Apparatus for providing around view image, and vehicle

ABSTRACT

An apparatus that provides an around view image and that includes: a camera unit that is configured to obtain an outside image of the vehicle; and a processor that is configured to: determine a connection state between a trailer and the vehicle, receive the outside image of the vehicle from the camera unit, based on the outside image of the vehicle, determine an attitude of the trailer, and based on the attitude of the trailer, generate a control signal to control travel of the vehicle is disclosed.

CROSS-REFERENCE TO RELATED APPLICATION

This application claims the priority benefit of Korean PatentApplication No. 10-2016-0145238, filed on Nov. 2, 2016 in the KoreanIntellectual Property Office, the entire content of which isincorporated herein by reference.

TECHNICAL FIELD

The present application relates to technologies related to an apparatusfor providing an around view image and a vehicle.

BACKGROUND

A vehicle is an apparatus that moves in a direction desired by a userriding therein. A representative example of a vehicle may be anautomobile.

In some implementations, a variety of sensors and electronic deviceshave been mounted in vehicles for the convenience of a user who uses thevehicle. In particular, for user driving convenience, variousapparatuses are being developed.

In some implementations, parking, driving, and selecting a roadway maybe a challenge for a trailer truck or a vehicle with a trailer attachedthereto.

In addition, when an additional device is attached to a vehicle, theremay be a problem that an Around View Monitor (AVM) camera readilyattached to the vehicle cannot be used for parking and driving.

SUMMARY

In general, one innovative aspect of the subject matter described inthis specification can be implemented in an apparatus for providing anaround view image, the apparatus including: a camera unit that isconfigured to obtain an outside image of the vehicle; and a processorthat is configured to: determine a connection state between a trailerand the vehicle, receive the outside image of the vehicle from thecamera unit, based on the outside image of the vehicle, determine anattitude of the trailer, and based on the attitude of the trailer,generate a control signal to control travel of the vehicle.

The foregoing and other implementations can each optionally include oneor more of the following features, alone or in combination. Inparticular, one implementation includes all the following features incombination. The apparatus further includes an interface that isconfigured to receive data from the trailer, wherein the processor isconfigured to: based on the data, determine the connection state betweenthe trailer and the vehicle. The apparatus further includes: a memorythat is configured to store markers representing a preset attitude ofthe trailer, wherein the processor is configured to: obtain a rear viewimage of the vehicle from the camera unit, detect the trailer from therear view image, receive the markers from the memory, match each of themarkers with at least one portion of the trailer in the rear view image,determine an angle between the at least one portion of the trailer andeach of the markers, and based on the angle, determine the attitude ofthe trailer. The apparatus further includes: an interface that isconfigured to receive gyro sensing information from a gyro sensor thatis mounted on the trailer, wherein the processor is configured to: basedon the gyro sensing information, determine the attitude of the trailer.The processor is configured to: obtain a plurality of images from thecamera unit, based on (i) a vehicle image of the vehicle and (ii) theplurality of images, generate a first around view image, and provide thefirst around view image to a display. The apparatus further includes: aninterface that is configured to receive an outside image of the trailerfrom a camera unit of the trailer, wherein the processor is configuredto: based on (i) the first around view image and (ii) the outside imageof the trailer, generate a second around view image, and provide thesecond around view image to the display. The interface is configured to:receive sensing information from one or more sensors of the trailer, theone or more sensors including at least one of a radar, a lidar, anultrasonic sensor, or an infrared sensor, and wherein the processor isconfigured to: based on the sensing information, generate a third aroundview image, and provide the third around view image to the display. Theapparatus further includes: a memory that is configured to store aplurality of Look Up Tables (LUTs), each LUT of the plurality of LUTscorresponding to a respective attitude of the trailer, wherein, based ona current attitude of the trailer, the processor is configured to:receive a first LUT from the plurality of LUTs, the first LUTcorresponding to the current attitude of the trailer, determine a fourtharound view image that corresponds to the first LUT, and provide thefourth around view image to the display. The processor is configured to:based on a driving condition of the trailer, generate a control signalto operate a hitch at (i) a fixed state in which the hitch is fixed or(ii) an adjustable state in which the hitch is adjustable. The processoris configured to: in a state in which the vehicle travels straight,generate a control signal to operate the hitch at the fixed state. Theprocessor is configured to: determine whether a turning angle of thevehicle satisfies a first angle, and based on a determination that theturning angle of the vehicle satisfies the first angle, generate acontrol signal to operate the hitch at the adjustable state. Theprocessor is configured to: based on an attitude of the trailer,generate a control signal to control at least one of acceleration,braking, or steering of the vehicle. The processor is configured to:obtain object detection information about an object located outside thevehicle, and based on an attitude of the trailer, adjust the objectdetection information. The processor is configured to: based on theobject detection information, detect a first distance between thetrailer and the object; determine whether the first distance satisfies afirst reference distance, based on a determination that the firstdistance satisfies the first reference distance, determine whether thereis a risk of collision between the trailer and the object, and based ona determination that there is a risk of collision between the trailerand the object, generate a control signal to control the vehicle to keepa second distance between the trailer and the object. The processor isconfigured to: obtain one or more images from the vehicle and thetrailer, based on the one or more images, determine a travel lane of thetrailer, and generate a control signal to control the vehicle such thatthe trailer maintains the travel lane. The processor is configured to:based on an attitude of the trailer, generate a parking path for parkingthe trailer, and generate a control signal to control the vehicle suchthat the trailer moves along the parking path. The processor isconfigured to: based on an attitude of the trailer, generate a controlsignal to control wheels of the trailer, the control signal beingconfigured to control at least one of braking or steering of thetrailer. The processor is configured to: obtain object detectioninformation about an object located outside the vehicle, and based onthe object detection information, detect a third distance between thetrailer and the object, determine whether the third distance satisfies asecond reference distance, based on a determination that the thirddistance satisfies the second reference distance, determine whetherthere is a risk of collision between the trailer and the object, andbased on a determination that there is a risk of collision between thetrailer and the object, generate a control signal to control the trailerto keep a fourth distance between the trailer and the object. Theprocessor is configured to: obtain one or more images from the vehicleand the trailer, based on the one or more images, determine a travellane of the trailer, and generate a control signal to control thetrailer to maintain the travel lane. The processor is configured to:obtain information about a travel path of the vehicle, and based on theinformation about the travel path of the vehicle, generate the controlsignal to control the trailer to move along the travel path of thevehicle.

The subject matter described in this specification can be implemented inparticular examples so as to realize one or more of the followingadvantages. An apparatus for providing an around view image acquires animage of a blind spot using a camera for a trailer that is coupled to avehicle. The apparatus can get the image of the blind spot for any kindor any size of trailer. In addition, the apparatus provides the aroundview image to a driver of the vehicle so that the driver can safelydrive or park the vehicle and the trailer. Moreover, the apparatus caninclude an Advanced Driver Assistance System (ADAS) and an AVM system toimprove the efficiency.

The details of one or more examples of the subject matter described inthis specification are set forth in the accompanying drawings and thedescription below. Other potential features, aspects, and advantages ofthe subject matter will become apparent from the description, thedrawings, and the claim.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a diagram illustrating an example exterior of a vehicle and atrailer.

FIG. 2A is a diagram illustrating an example vehicle including one ormore cameras and an example trailer.

FIG. 2B is a diagram illustrating an example around view image for avehicle and a trailer.

FIG. 3 is a diagram illustrating an example vehicle.

FIG. 4 is a diagram illustrating an example apparatus for providing anaround view image of a vehicle.

FIG. 5 is a flowchart illustrating an example method for operating anapparatus for providing an around view image of a vehicle.

FIG. 6 is a flowchart illustrating an example method for controlling ahitch that couples a trailer to a vehicle.

FIG. 7 is a flowchart illustrating an example method for controlling atrailer to avoid a collision based on an attitude of the trailer.

FIG. 8 is a flowchart illustrating an example method for maintaining atraveling lane of a vehicle based on an attitude of a trailer.

FIG. 9 is a flowchart illustrating an example method for parking avehicle and a trailer based on an attitude of the trailer.

FIGS. 10A and 10B are diagrams illustrating an example vehicle and anexample trailer where an example apparatus determines an attitude of thetrailer using markers.

FIGS. 11A and 11B are diagrams illustrating an example vehicle and anexample trailer where an example apparatus determines an attitude of thetrailer using a gyro sensor.

FIGS. 12A and 12B are diagrams illustrating an example vehicle and anexample trailer where an example apparatus provides an LUT based on anattitude of the trailer.

FIG. 13 is a diagram illustrating an example vehicle and an exampletrailer where an example apparatus controls a hitch.

FIG. 14 is a diagram illustrating an example vehicle and an exampletrailer where an example apparatus controls a hitch.

FIGS. 15A and 15B are diagrams illustrating an example vehicle and anexample trailer where an example apparatus controls the vehicle and thetrailer to avoid a collision between the trailer and an external object.

FIGS. 16A and 16B are diagrams illustrating an example vehicle and anexample trailer where an example apparatus controls the vehicle tomaintain a traveling lane of the trailer.

FIGS. 17A and 17B are diagrams illustrating an example vehicle and anexample trailer where an example apparatus controls parking of thevehicle and the trailer.

FIGS. 18A and 18B are diagrams illustrating an example vehicle and anexample trailer where an example apparatus controls the trailer to avoida collision between the trailer and an external object.

FIGS. 19A and 19B are diagrams illustrating an example vehicle and anexample trailer where an example apparatus controls the trailer tomaintain a traveling lane of the trailer.

FIG. 20 is a diagram illustrating an example vehicle and an exampletrailer where an example apparatus controls the trailer to travel on thesame lane with the vehicle.

Like reference numbers and designations in the various drawings indicatelike elements.

DETAILED DESCRIPTION

A vehicle can include an automobile and a motorcycle. A vehicle caninclude all of an internal combustion engine vehicle including an engineas a power source, a hybrid vehicle including both an engine and anelectric motor as a power source, and an electric vehicle including anelectric motor as a power source.

FIG. 1 illustrates an example exterior of a vehicle and a trailer.

Referring to FIG. 1, a vehicle 100 may include wheels 103FR,103FL,103RL,which are rotated by a power source, and an apparatus 300 for providingan around view image, which is provided inside the vehicle 100.

The apparatus 300 may include at least one camera, and an image acquiredby the at least one camera may be processed into a signal by a processor350.

A trailer 900 may include wheels 903FR, 903FL, 903RL, . . . , which arerotated by travelling of the vehicle 100, a plurality of cameras, and ahitch 910 which connects the vehicle 100 and the trailer 900.

In some implementations, the trailer 900 described in this specificationmay be connected with the vehicle 100 by the hitch 910, and thereforeenabled to move responsive to travel of the vehicle 100. When thevehicle 100 travels forward, the trailer 900 may travel forwardaccordingly. In addition, when the vehicle 100 comes to a stop ortravels backwards, the trailer 900 may come to a stop or travelbackwards accordingly. Responsive to rotation of the vehicle 100, thetrailer 900 may rotate in a direction of the rotation of the vehicle100.

The trailer 900 moves passively by movement of the vehicle 100.

For example, when the vehicle 100 moves in a specific direction, thetrailer 900 connected with the vehicle 100 by the hitch 910 movesaccording to the movement of the vehicle 100.

Steering of the trailer 900 is related to steering of the vehicle 100.

In some implementations, a steering input may be made in a manner suchthat the front wheels of the trailer 900 are rotated to the left orright side in a direction of travel of the vehicle 100. A steering inputfor the front wheels of the trailer 900 may be provided from theapparatus 300.

FIG. 2A illustrates an example vehicle including one or more cameras andan example trailer. FIG. 2B illustrates an example around view image fora vehicle and a trailer.

Referring to FIGS. 2A and 2B, there is provided description about anapparatus for providing an around view image, the apparatus whichincludes a plurality of cameras 310 a, 310 b, 310 c, and 310 d foracquiring a vehicle around image and a plurality of cameras 920 a, 920b, and 920 c for acquiring a trailer around image.

FIG. 2A illustrates a case where the apparatus 300 includes sevencameras, but the apparatus 300 can include any suitable numbers ofcameras.

Referring to FIG. 2A, the apparatus 300 may include the plurality ofcameras 310 a, 310 b, 310 c, and 310 d. The plurality of cameras 310 a,310 b, 310 c, and 310 d included in the vehicle 100 may be disposed onthe front of the vehicle 100, on the rear of the vehicle 100, on theleft side of the vehicle 100, and on the right side of the vehicle 100.

The first camera 310 a may be disposed on the front of the vehicle 100,the second camera 310 b may be disposed on the rear of the vehicle 100,the third camera 310 c may be disposed on the left side of the vehicle100, and the fourth camera 310 d may be disposed on the right side ofthe vehicle 100.

The first camera 310 a may be disposed near an emblem or a radiatorgrill of the vehicle 100.

The second camera 310 b may be disposed near a rear license plate or atrunk switch of the vehicle 100.

The third camera 310 c may be disposed in at least one of the left frontdoor, the left rear door, the left front fender, the left rear fender,the left side mirror, the left front wheel house, and the left rearwheel house of the vehicle 100.

The fourth camera 310 d may be disposed in at least one of the rightfront door, the right rear door, the right front fender, the right rearfender, the right side mirror, the right front wheel house, and theright rear wheel house of the vehicle 100.

For example, the third camera 310 c and the fourth camera 310 d may beimplemented as a bidirectional camera. The bidirectional camera is acamera which captures areas to the left and right of the vehicle 100from a position where the camera is set up.

The bidirectional camera may be a module formed by two cameras, and maycaptures images in different directions from a position where the camerais attached to a vehicle. For example, if the third camera 310 c isformed as a bidirectional camera, the third camera 310 c may captureimages of the right side and the rear side of the vehicle 100. Forexample, if the fourth camera 310 d is formed as a bidirectional camera,the fourth camera 310 d may capture images of the left side and the rearside of the vehicle 100.

In some implementations, the apparatus 300 may include the plurality ofcameras 920 a, 920 b, and 920 c attached to the trailer 900.

The plurality of cameras 920 a, 920 b, and 920 c included in the trailer900 may be respectively disposed on the rear of the trailer 900, theleft side of the trailer 900, and the right side of the trailer 900.

The fifth camera 920 a may be disposed on the rear of the trailer 900.

The sixth camera 920 b may be disposed on the left side of the trailer900.

The seventh camera 920 c may be disposed on the right side of thetrailer 900.

Each image captured by the camera 310 of the vehicle 100 and the camera920 of the trailer 900 may be transferred to the processor 350, and theprocessor 350 may synthesize images to generate an image of thesurroundings of the vehicle 100.

In some implementations, in some implementations, the plurality ofcameras 920 a, 920 b, and 920 c attached to the trailer 900 may beclassified as elements of the trailer 900. In this case, the pluralityof cameras 920 a, 920 b, and 930 c may be electrically connected to anelectric control device included in the trailer 900.

The processor 350 may receive images directly from the plurality ofcameras 920 a, 920 b, and 920 c attached to the trailer 900, or mayreceive images by way of the electric control device of the trailer 900via an interface 330.

FIG. 2B shows an example of an image of the surroundings of a vehicle.

The image of the surroundings of the vehicle may include a first imagearea 310 ai captured by the first camera 310 a, a second image area 310bi captured by the second camera 310 b, a third image area 310 cicaptured by the third camera 310 c, a fourth image area 310 di capturedby the fourth camera 310 d, a fifth image area 920 ai captured by thefifth camera 920 a, and a sixth image area 920 bi captured by the sixthcamera 920 b, and a seventh image area 920 ci captured by the seventhcamera 920 c.

In some implementations, if an around view image is generated using aplurality of cameras, a boundary may be seen between image areas. Insome implementations, image blending may be performed to display theboundary unnoticeably.

In some implementations, the image of the surroundings of the vehiclemay include a vehicle image 100 i. The vehicle image 100 i may be animage generated by the processor 350.

In addition, an image of the surroundings of a trailer may include atrailer image 900 i. The trailer image 900 i may be an image generatedby the processor 350.

The image of the surroundings of the vehicle may be displayed through adisplay unit 141 of the vehicle 100 or a display unit 371 of theapparatus 300.

The image of the surroundings of the vehicle may be referred to as avehicle around view image or an around view image of a vehicle.

The image of the surroundings of the vehicle may be generated based onimages acquired by the first to fourth cameras 310 a, 310 b, 310 c, and310 d.

The image of the surroundings of the vehicle may be generated based onimages acquired by the first to seventh cameras 310 a, 310 b, 310 c, 310d, 920 a, 920 b, and 930 c. In this case, the image of the surroundingsof the vehicle may include the vehicle 100 i and the trailer image 900i.

FIG. 3 illustrates an example vehicle.

Referring to FIG. 3, the vehicle 100 may include a communication unit,an input unit 120, a sensing unit 125, a memory 130, an output unit 140,a vehicle drive unit 150, an object detection unit 160, a control unit170, an interface 180, a power supply unit 190, and the apparatus 300.

The communication unit 110 may include one or more modules which enableswireless communication between the vehicle 100 and a mobile terminal,between the vehicle 100 and an external server, or between the vehicle100 and a different vehicle. In addition, the communication unit 110 mayinclude one or more modules that connects the vehicle 100 to one or morenetworks.

The communication unit 110 may include a broadcast receiving module 111,a wireless internet module 112, a short-range communication module 113,a location information module 114, an optical communication module 115,and a V2X communication module 116.

The broadcast receiving module 111 may receive a broadcast signal orbroadcast-related information from an external broadcast managementserver through a broadcasting channel. The term “broadcast” includesradio broadcast and TV broadcast.

The wireless internet module 112 is a module for a wireless internetaccess. The wireless internet module 112 may be embedded in the vehicle100 or may be an external device. The wireless internet module 112 isconfigured to transmit and receive a wireless signal over acommunication network according to wireless internet technologies.

The wireless internet technologies include, for example, Wireless LAN(WLAN), Wireless-Fidelity (Wi-Fi), Wireless Fidelity (Wi-Fi) Direct,Digital Living Network Alliance (DLNA), Wireless Broadband (WiBro),World Interoperability for Microwave Access (WiMAX), High Speed DownlinkPacket Access (HSDPA), High Speed Uplink Packet Access (HSUPA), LongTerm Evolution (LTE), Long Term Evolution-Advanced (LTE-A), etc. Thewireless internet module 112 transmits and receives data according to atleast one internet technology in a range including even technologies notmentioned above. For example, the wireless internet module 112 maywirelessly exchange data with an external server. The wireless internetmodule 112 may receive weather information and traffic information(e.g., a Transport Protocol Expert Group (TREG)) from the externalserver.

The short-range communication module 113 is configured to performshort-range communication. The short-range communication module 113 maysupport short-range communication using at least one selected from amongBluetooth™, Radio Frequency IDdentification (RFID), Infrared DataAssociation (IrDA), Ultra-WideBand (UWB), ZigBee, Near FieldCommunication (NFC), Wireless-Fidelity (Wi-Fi), Wi-Fi Direct, andWireless USB (Wireless Universal Serial Bus).

The short-range communication module 113 may form wireless area networksto perform short-range communication between the vehicle 100 and atleast one external device.

For example, the short-range communication module 113 may wirelesslyexchange data with a mobile terminal. The short-range communicationmodule 113 may receive weather information and traffic information(e.g., a Transport Protocol Expert Group (TPEG)) from the mobileterminal. For example, if a user is inside the vehicle 100, a mobileterminal of the user and the vehicle 100 may be paired with each otherautomatically or upon execution of an application by the user.

The location information module 114 is a module for acquiring a locationof the vehicle 100, and the typical example thereof is a GlobalPositioning System (GPS) module. For example, by facilitating the GPSmodule, a vehicle is able to acquire a location of the vehicle using asignal transmitted by a GPS satellite.

The optical communication module 115 may include a light emitter unitand a light receiver.

The light receiver may receive information by converting a light signalinto an electrical signal. The light receiver may include a Photo diode(PD) for receiving a light. The PD may convert a light into anelectrical signal. For example, the light receiver may receiveinformation on a vehicle ahead using a light that is emitted from alight source included in the vehicle ahead.

The light emitter may include at least one light emitting device forconverting an electrical signal into a light signal. The light emittingdevice may be a Light Emitting diode (LED). The light emitter convertsan electrical signal into a light signal and emits the light signal tothe outside. For example, by flashing a light emitting device at apredetermined frequency, the light emitter may emit a light signal tothe outside. In some implementations, the light emitter may include aplurality of light emitting device array. In some implementations, thelight emitter may be integrally formed with a lamp provided in thevehicle 100. For example, the light emitter may be at least one of aheadlamp, a tail lamp, a turn signal lamp, and a side lamp. For example,the optical communication module 115 may exchange data with a differentvehicle using optical communication.

The V2X communication module 116 is a module for performing wirelesscommunication with a server or a different vehicle. The V2X module 116includes a module that is able to implement a protocol forVehicle-to-Vehicle (V2V) communication and Vehicle-to-Infrastructure(V2I) communication. The vehicle 100 may perform wireless communicationwith an external server or the different vehicle by using the V2Xcommunication module 116.

The input unit 120 may include a driving manipulation units 121, amicrophone 123, and a user input unit 124.

The driving manipulation units 121 receives a user input for driving thevehicle 100. The driving manipulation units 121 may include a steeringinput units 121 a, a shift input units 121 b, an acceleration inputunits 121 c, and a brake input units 121 d.

The steering input units 121 a may receive a user input with regard tothe direction of travel of the vehicle 100. The steering input units 121a may take the form of a wheel to enable a steering input through therotation thereof. In some implementations, the steering input units 121a may be provided as a touchscreen, a touch pad, or a button.

The shift input units 121 b receives a user input for Parking (P), Drive(D), Neutral (N), and Reverse (R). The shift input units 121 b may takethe form of a lever. In some implementations, the shift input units 121b may take the form of a touch screen, a touch pad, or a button.

The acceleration input units 121 c receives a user input foracceleration of the vehicle 100. The brake input units 121 d may receivea user input for deceleration of the vehicle 100. Each of theacceleration input units 121 c and the brake input units 121 d may takethe form of a pedal. In some implementations, the acceleration inputunits 121 c or the break input units 121 d may be configured as a touchscreen, a touch pad, or a button.

The microphone 123 may convert an external sound signal into electricaldata. The processed data may be utilized for various purposes accordingto a function performed by the vehicle 100. The microphone 123 mayconvert a voice command of a user into electrical data. The electricaldata may be transferred to the controller 170.

In some implementations, in some implementations, the microphone 123 maybe an element included not in the input unit 120, but in the sensingunit 125.

The user input unit 124 is configured to receive information from auser. Once information is received through the user input unit 124, thecontroller 170 may control the vehicle 100 to operate corresponding tothe received information. The user input unit 124 may include atouch-type input units or a mechanical input units. In someimplementations, the user input 124 may be disposed in one region of thesteering wheel. In this case, a driver may manipulate the user inputunit 124 while grabbing the steering wheel.

The sensing unit 125 sense a signal related to travel of the vehicle100. To this end, the sensing unit 125 may include a collision sensor, awheel sensor, a speed sensor, a gradient sensor, a weight sensor, aheading sensor, a yaw sensor, a gyro sensor, a position module, avehicle forward/reverse movement sensor, a battery sensor, a fuelsensor, a tire sensor, a steering sensor based on the rotation of thesteering wheel, an in-vehicle temperature sensor, an in-vehicle humiditysensor, a rain sensor, an ultrasonic sensor, a radar, a Light DetectionAnd Ranging (LIADAR), etc.

The sensing unit 125 may acquire sensing signals with regard to, forexample, vehicle collision information, vehicle driving directioninformation, vehicle location information (GPS information), vehicleangle information, vehicle speed information, vehicle accelerationinformation, vehicle tilt information, vehicle forward/reverse movementinformation, battery information, fuel information, tire information,vehicle lamp information, in-vehicle temperature information, in-vehiclehumidity information, information as to whether it is raining,steering-wheel rotation angle information, etc.

In some implementations, the sensing unit 125 may further include, forexample, an accelerator pedal sensor, a pressure sensor, an engine speedsensor, an Air Flow-rate Sensor (AFS), an Air Temperature Sensor (ATS),a Water Temperature Sensor (WTS), a Throttle Position Sensor (TPS), aTop Dead Center (TDC) sensor, and a Crank Angle Sensor (CAS).

The sensing unit 125 may include a biometric information detection unit.The biometric information detection unit detects biometric informationof a passenger and acquires the detected biometric information. Thebiometric information may include fingerprint information, Iris-scaninformation, Retina-scan information, hand geometry information, facialrecognition information, voice recognition information, etc. Thebiometric information detection unit may include a sensor for sensingbiometric information of a passenger. An internal camera and themicrophone 123 may operate as the sensor. The biometric informationdetection unit may acquire hand geometry information and facialrecognition information by using the internal camera.

The output unit 140 is configured to output information processed by thecontroller 170, and may include a display device 141, a sound outputunit 142, and a haptic output unit 143.

The display device 141 may display information processed by thecontroller 170. For example, the display device 141 may display vehiclerelated information. The vehicle related information may include vehiclecontrol information required for direct control of a vehicle, or driverassistant information for providing guide to a driver. In addition, thevehicle related information may include vehicle condition informationindicating the current condition of the vehicle, and vehicle operationinformation related to operation of the vehicle.

The display device 141 may include at least one of the following: aLiquid Crystal Display (LCD), a Thin Film Transistor-Liquid CrystalDisplay (TFT LCD), an Organic Light-Emitting Diode (OLED), a flexibledisplay, a 3D display, and an e-ink display.

The display device 141 may form an inter-layer structure together with atouch sensor, or may be integrally formed with the touch sensor toimplement a touch screen. The touch screen may function as the userinput unit 124 which provides an input interface between the vehicle 100and a user, and may at the same time provide an output interface betweenthe vehicle 100 and the user. In this case, to receive a control commandaccording to a touch input, the display device 141 may include a touchsensor which senses a touch on the display device 141. When a touch ismade on the display device 141, the touch sensor may sense the touch andthe controller 170 may generate a control command corresponding to thetouch. Content input by the touch may be a text, a number, instructionin various modes, and a menu item able to be designated.

In some implementations, the display device 141 may include a cluster toallow a driver to check vehicle condition information or vehicleoperation information while driving the vehicle 100. The cluster may bedisposed on a dashboard. In this case, the driver may check informationdisplayed on the cluster with his or her eyes looking forward.

In some implementations, in some implementations, the display device 141may be implemented as a Head Up Display (HUD). When implemented as anHUD, the display device 141 may output information through a transparentdisplay provided in a windshield. Alternatively, the display device 141may include a projector module to output information through an imageprojected on a windshield.

The sound output unit 142 may convert an electrical signal from thecontroller 170 into an audio signal, and output the audio signal. Thesound output unit 142 may include a speaker and the like. The soundoutput unit 142 may output sound corresponding to operation of the userinput unit 124.

The haptic output unit 143 generates a tactile output. For example, thehaptic output unit 143 may vibrate a steering wheel, a seat belt, or aseat so as to allow a user to recognize the output.

The vehicle drive unit 150 may control operation of various devices ofthe vehicle 100. The vehicle drive unit 150 may receive a control signalfrom the apparatus 300. The vehicle drive unit 150 may control eachdevice of the vehicle based on the control signal.

The vehicle drive unit 150 may include a power source drive unit 151, asteering drive unit 152, a brake drive unit 153, a lamp drive unit 154,an air conditioner drive unit 155, a window drive unit 156, an airbagdrive unit 157, a sunroof drive unit 158, and a suspension drive unit159.

The power source unit 151 may perform an electronic control of a powersource provided in the vehicle 100.

For example, when a fossil fuel-based engine is the power source, thepower source drive unit 151 may perform electronic control of theengine. By doing so, the power source drive unit 151 may control theoutput torque of the engine. When the power source drive unit 151 is anengine, the power source drive unit 151 may adjust the output toque ofthe engine under control of the controller 170, thereby adjusting thespeed of the vehicle 100.

In another example, when an electrical motor is the power source, thepower source drive unit 151 may perform control of the motor. By doingso, the power source drive unit 151 may control a rotation speed and anoutput torque of the motor.

The power source unit 151 may receive an acceleration control signalfrom the apparatus 300. The power source drive unit 151 may receive apower source in accordance with the received acceleration controlsignal.

The steering drive unit 152 may perform electric control of a steeringapparatus provided inside the vehicle 100. By doing so, the steeringdrive unit 152 may change a direction of travel of the vehicle 100. Thesteering drive unit 152 may receive a steering control signal from theapparatus 300. The steering drive unit 152 may control the steeringapparatus in accordance with the received steering control signal.

The brake drive unit 153 may perform electric control of a brakeapparatus provided inside the vehicle 100. For example, the brake driveunit 153 may reduce the speed of the vehicle 100 by controllingoperation of a brake located at a wheel. In another example, the brakedrive unit 153 may adjust a direction of travel of the vehicle 100 tothe left or the right by controlling a brake located at a left wheel anda brake located at a right wheel to operate differently. The brake driveunit 153 may receive a deceleration control signal from the apparatus300. The brake drive unit 153 may control the brake apparatus inaccordance with the received deceleration control signal.

The lamp drive unit 154 may control turning on/off of lamps providedinside and outside the vehicle 100. In addition, the lamp drive unit 154may control intensity and direction of light of the lamps. For example,the lamp drive unit 154 may control a turn signal lamp and a brake lamp.

The air conditioner drive unit 155 may perform electric control of anair conditioner provided inside the vehicle 100. For example, whenin-vehicle temperature is high, the air conditioner drive unit 155 mayoperate the air conditioner so as to supply cool air to the inside ofthe vehicle 100.

The window drive unit 156 may perform electric control of a windowapparatus provided inside the vehicle 100. For example, the window driveunit 156 may control opening or closing of left and right windowsprovided on the sides of the vehicle 100.

The airbag drive unit 157 may perform electric control of an airbagapparatus provided inside the vehicle 100. For example, upon detectionof a dangerous situation, the airbag drive unit 157 may control anairbag to be deployed.

The sunroof drive unit 158 may perform electric control of a sunroofapparatus provided inside the vehicle 100. For example, the sunroofdrive unit 158 may control opening or closing of a sunroof.

The suspension drive unit 159 may perform electric control of asuspension apparatus provided inside the vehicle 100. For example, whenthe road surface is uneven, the suspension drive unit 159 may controlthe suspension apparatus so as to reduce vibration of the vehicle 100.The suspension drive unit 159 may receive a suspension control signalfrom the apparatus 300. The suspension drive unit 159 may control thesuspension apparatus in accordance with the received suspension controlsignal.

The memory 130 is electrically connected with the controller 170. Thememory 130 may store basic data for each unit, control data for theoperational control of each unit, and input/output data. The memory 130may be any of various hardware storage devices, such as a ROM, a RAM, anEPROM, a flash drive, and a hard drive. The memory 130 may store variousdata for the overall operation of the vehicle 100, such as programs forthe processing or control of the controller 170.

The object detection unit 160 is configured to detect an object locatedoutside the vehicle 100. For example, the object may include apedestrian, a two-wheeled vehicle, a different vehicle, and a structurelocated around the vehicle 100. The structure may be a wall, a roadsidetree, a traffic light, a pole, or any object fixed onto the ground.

The object detection unit 160 may include a camera 161, a radar 162, alidar 163, an ultrasonic sensor 164, and an infrared sensor 165.

In some implementations, the object detection unit 160 may furtherinclude other components in addition to the aforementioned components,or may not include some of the aforementioned components.

The camera 161 may be located at an appropriate position outside thevehicle 100 in order to acquire an image of the outside of the vehicle100. The camera 161 may be a mono camera, a stereo camera, an AroundView Monitoring (AVM) camera, or a 360-degree camera.

The radar 162 may include an electromagnetic wave transmitter and anelectromagnetic wave receiver. The radar 162 may be realized as a pulseradar or a continuous wave radar depending on the principle of emissionof an electronic wave. In addition, the radar 162 may be realized as aFrequency Modulated Continuous Wave (FMCW) type radar or a FrequencyShift Keying (FSK) type radar depending on the waveform of a signal.

The radar 162 may be located at an appropriate position outside thevehicle 100 in order to detect an object located in front of thevehicle, an object located to the rear of the vehicle 100, or an objectlocated to the side of the vehicle.

The lidar 163 may include a laser transmitter and a laser receiver. Thelidar 163 may be implemented based on TOF techniques or phase-shifttechniques.

The lidar 163 may detect an object through the medium of laser light byemploying the TOF techniques or the phase-shift techniques, and maydetect a location of the detected object, the distance to the detectedobject, and the speed relative to the detected object.

The lidar 163 may be located at an appropriate position outside thevehicle 100 in order to detect an object in front of the vehicle 100, anobject located to the rear of the vehicle 100, or an object located tothe side of the vehicle 100.

The ultrasonic sensor 164 may include an ultrasonic wave transmitter andan ultrasonic wave receiver. The ultrasonic sensor 164 may detect anobject based on an ultrasonic wave, and may detect a location of thedetected object, the distance to the detected object, and the speedrelative to the detected object.

The ultrasonic sensor 164 may be located at an appropriate position todetect an object located in front of the vehicle 100, an object locatedto the rear of the vehicle 100, and an object on the side of the vehicle100.

The infrared sensor 165 may include an infrared light transmitter and aninfrared light receiver. The infrared sensor 165 may detect an objectbased on an infrared light, and detect a location of the detectedobject, the distance to the detected object, and the speed relative tothe detected object.

The infrared sensor 165 may be located at an appropriate positionoutside the vehicle 100 in order to detect an object in front of thevehicle 100, an object located to the rear of the vehicle 100, and anobject located to the side of the vehicle 100.

The controller 170 may control the overall operation of each unit insidethe vehicle 100. The controller 170 may be referred to as an ElectronicController (ECU).

The controller 170 may be implemented using at least one selected fromamong Application Specific Integrated Circuits (ASICs), Digital SignalProcessors (DSPs), Digital Signal Processing Devices (DSPDs),Programmable Logic Devices (PLDs), Field Programmable Gate Arrays(FPGAs), processors, controllers, micro-controllers, microprocessors,and electric units for the implementation of other functions.

The interface 180 may server as a passage for various kinds of externaldevices that are connected with the vehicle 100. For example, theinterface 180 may have a port that is connectable to a mobile terminal,and may be connected with the mobile terminal via the port. In thiscase, the interface 180 may exchange data with the mobile terminal.

In some implementations, the interface 180 may serve as a passage forthe supply of electrical energy to the mobile terminal connectedthereto. When the mobile terminal is electrically connected with theinterface 180, the interface 180 may provide electrical energy, suppliedfrom the power supply unit 190, to the mobile terminal under control ofthe controller 170.

The power supply unit 190 may supply power required to operate eachcomponent under control of the controller 170. In particular, the powersupply unit 190 may be supplied with power from, for example, a batteryinside the vehicle 100.

The apparatus 300 may exchange data with the controller 170. Variousinformation, data, or control signals generated in the apparatus 300 maybe output to the controller 170.

FIG. 4 illustrates an example apparatus for providing an around viewimage of a vehicle.

Referring to FIG. 4, the apparatus 300 may include a camera unit 310, aninput unit 320, an interface 330, a memory 340, a processor 350, a powersupply unit 360, and an output unit 370.

The camera unit 310 may include a plurality of cameras 310 a, 310 b, 310c, 310 d, 920 a, 920 b, and 920 c.

The plurality of cameras 310 a, 310 b, 310 c, 310 d, 920 a, 920 b, and920 c may be attached to one region of a vehicle or a trailer.

The camera unit 310 may acquire an image from the plurality of cameras310 included in the vehicle. The image may be an image of thesurroundings of the vehicle. Alternatively, the image may be an image ofthe surroundings of the trailer.

For example, the camera unit 310 may acquire a front view image, a rearview image, a left view image, and a right view image of the vehicle 100using the plurality of cameras 310 a, 310 b, 310 c, and 310 d. Thecamera unit 310 may acquire an image of the surroundings of the trailerusing the plurality of cameras 920 a, 920 b, and 920 c. The image of thesurroundings of the trailer may be an image that is taken at the centerof the trailer. The camera unit 310 may acquire a rear view image, aleft view image, and a right view image of the trailer.

The input unit 320 may include a plurality of buttons or a touch screen.Using the plurality of buttons or the touch screen, it is possible toturn on the apparatus 300. Other various input operations are possibleusing the input unit 320. In some implementations, in someimplementations, the input unit 320 may include a voice input unit forreceiving a voice of a user. In this case, the voice input unit mayinclude a microphone for converting voice of a user into an electricalsignal.

The interface 330 may receive vehicle related data or transmit a signalprocessed or generated by the processor 350 to the outside. To this end,the interface 330 may perform data communication with the controller170, the output unit 140, the sensing unit 125, the vehicle drive unit150, and the trailer 900 in a wired or wireless communication method.

In some implementations, the interface 330 may receive sensorinformation from the controller 170 or the sensing unit 125.

The sensor information may include at least one of the following:vehicle direction information, vehicle location information (GPSinformation), vehicle angle information, vehicle speed information,vehicle acceleration information, vehicle tilt information, vehicleforward/reverse movement information, battery information, fuelinformation, tire information, vehicle lamp information, in-vehicletemperature information, in-vehicle humidity information, information asto whether it is raining, etc.

The sensor information may be acquired from a yaw sensor, a gyro sensor,a position module, a vehicle forward/reverse movement sensor, a wheelsensor, a vehicle speed sensor, a vehicle tilt sensor, a battery sensor,a fuel sensor, a tire sensor, a steering sensor based on the rotation ofthe steering wheel, an in-vehicle temperature sensor, an in-vehiclehumidity sensor, a rain sensor, a GPS sensor, etc.

In some implementations, information related to travel of a vehicle inthe above sensor information, such as the vehicle direction information,the vehicle location information, the vehicle angle information, thevehicle speed information, and the vehicle tilt information, may bereferred to as vehicle driving information.

The Interface 330 may provide a signal to the controller 170 or thevehicle drive unit 150. The signal may be a control signal. For example,the processor 350 may generate and provide an acceleration controlsignal to the power source drive unit 751. For example, the processor350 may generate and provide a steering control signal to the steeringdrive unit 752 through the interface 330. For example, the processor 350may generate and provide a deceleration control signal to the brakedrive unit 753.

The interface 330 may receive steering angle information from a steeringangle sensor included in the sensing unit 125 of the vehicle 100.

The interface 330 may receive location information of vehicle 100 fromthe GPS sensor included in the sensing unit 125 of the vehicle 100 orfrom the location information module 714 included in the communicationunit 110.

The interface 330 may receive vehicle speed information from the vehiclespeed sensor included in the sensing unit 125 of the vehicle 100.

The interface 330 may receive data from the trailer 900.

The trailer 900 may include an electronic control device. The interface330 may be electrically connected with the electronic control device ofthe trailer 900.

The interface 330 may receive data from the electronic control device ofthe trailer 900.

The interface 330 may transfer a control signal, generated by theprocessor 350, to the electronic control device of the trailer 900.

For example, the interface 330 may transfer a control signal forcontrolling a steering angle of a wheel of the trailer 900.

The interface 330 may receive, from the trailer, location informationand direction information of the trailer 900 sensed by the gyro sensorincluded in the trailer 900.

The interface 330 may receive images of the surroundings of the trailer900 from the cameras 920 a, 920 b, and 930 c disposed in the trailer900.

The interface 330 may receive sensing information of the surroundings ofthe trailer 900 from a sensor, other than a camera, included in thetrailer 900.

For example, at least one sensor among a radar, a lidar, an ultrasonicsensor, and an infrared sensor may be disposed in the trailer 900. Theinterface 399 may receive sensing information from at least one sensoramong the radar, the lidar, the ultrasonic sensor, and the infraredsensor disposed in the trailer 900.

The interface 330 may receive information on detection of an objectlocated outside the vehicle 100 from the object detection unit 160.

The interface 330 may provide a hitch control signal generated by theprocessor 350 to a hitch 910.

The interface 330 may provide the vehicle drive unit 150 with a vehiclecontrol signal including at least one control signal among anacceleration control signal, a brake control signal, and a steeringcontrol signal.

The interface 330 may provide at least one control signal between abrake control signal and a steering control signal to the trailer 900.

The memory 340 may store various types of data for processing or controlof the processor 350 for the purpose of overall operation of theapparatus 300.

The memory 340 may store data for determining an attitude of the trailer900.

For example, the memory 240 may store attitude data of the trailer 900,which is generated corresponding to a state in which the trailer 900 isaligned with the vehicle 100. The attitude data may be referred to asmarkers.

For example, the memory 340 may store attitude data of the trailer 900in an image of the vehicle 100 which is taken looking from the rear ofthe vehicle 100 toward the trailer 900 when the vehicle 100 and thetrailer 900 are aligned in an overall-length direction of the vehicle100.

For example, the memory 340 may image data in which an areacorresponding to a feature point (e.g., an edge and a surface) of theexterior appearance of the trailer 900 is matched with a dot, a line, ora surface. The area corresponding to the feature point, which is matchedwith a dot, a line, or a surface, may be referred to as a marker.

In addition, the memory 340 may store location information and directioninformation of the trailer 900 sensed by the gyro sensor in a state inwhich the trailer 900 is arranged with the vehicle 100.

The memory 340 may store information on attitudes of the trailer 900.

The memory 340 may store a plurality of Look Up Tables (LUTs) that aregenerated in advance corresponding to information on attitudes of thetrailer 900.

For example, the memory 340 may store a first LUT corresponding to afirst attitude of the trailer 900, a second LUT corresponding to asecond attitude of the trailer 900, and a third LUT corresponding to athird attitude of the trailer 900.

An attitude of the trailer 9000 may be determined by a connection statebetween the vehicle 100 and the trailer 900.

For example, an attitude of the trailer 900 may be determined by how thetrailer 900 is positioned with respect to the vehicle 100 in anoverall-length direction of the vehicle 100. For example, an attitude ofthe trailer 900 may be determined by how the vehicle 100 and the trailer900 are connected when seen from above.

The memory 340 may store data required for identifying an object. Forexample, when a specific object is detected from an image acquired bythe camera unit 310, the memory 340 may store data required foridentifying the object using a specific algorithm.

In some implementations, the memory 340 may be any of various hardwarestorage devices, such as a ROM, a RAM, an EPROM, a flash drive, and ahard drive.

The processor 350 may control the overall operation of each unit insidethe apparatus 300.

The processor 350 may process an image of the surroundings of thevehicle 100 received from the camera unit 310. In particularly, theprocessor 350 performs computer vision-based signal processing. Theprocessor 350 may detect and track an object. In particular, when anobject is detected, the processor 350 may perform Lane Detection (LD),Vehicle Detection (VD), Pedestrian Detection (PD), Brightspot Detection(BD), Traffic Sign Recognition (TSR), and road surface detection.

The processor 350 may detect information from an image of thesurroundings of the vehicle 100, the image which is received from thecamera unit 310.

The information may be information on a vehicle driving situation. Forexample, the information may include information on a road on which avehicle is travelling, traffic regulation information, information on anearby vehicle, information on a vehicle or a crosswalk light,information on a construction site, traffic flow information, parkingspace information, lane information, etc.

The processor 350 may verify detected information by comparing thedetected information with information stored in the memory 340.

In some implementations, the processor 350 may in real time recognizetraffic information which is recognized by the apparatus 300 from animage.

In some implementations, the processor 350 may receive sensorinformation from the controller 170 or the sensor unit 125 via theinterface 330. The sensor information may include at least one ofvehicle direction information, vehicle location information (GPSinformation), vehicle angle information, vehicle speed information,vehicle acceleration information, vehicle tilt information, vehicleforward/reverse movement information, battery information, fuelinformation, tire information, vehicle lamp information, in-vehicletemperature information, in-vehicle humidity information, steering wheelrotation information, etc.

The processor 350 may determine a connection state between the trailer900 and the vehicle 100.

The processor 350 may determine a connection state between the trailer900 and the vehicle 100 on the basis that the trailer 900 and thevehicle are connected electrically.

The processor 350 may determine a connection state between the trailer900 and the vehicle 100 based on an image acquired by the camera unit310.

The processor 350 may determine a connection state between the trailer900 and the vehicle 100 based on sensing information of the trailer 900,which is detected by the object detection unit 160.

The processor 350 may determine a connection state between the trailer900 and the vehicle 100 based on a user input received via the inputunit 320.

If the vehicle 100 and the trailer 900 are connected electrically, theprocessor 350 may receive data, information, and signals from thetrailer 900.

The information received from the trailer 900 may include trailer imageinformation, trailer direction information, trailer location information(GPS information), trailer angle information, trailer speed information,trailer acceleration information, trailer tilt information, and trailerlamp information.

In some implementations, if a trailer is detected from a rear view imageof the vehicle 100, which is provided from the camera unit 310, and datais transmitted to the trailer, the processor 350 may determine that thetrailer is connected with the vehicle.

In some implementations, if the vehicle 100 connected with the trailer900 is travelling in a designated area, the processor 350 may estimate alength of the trailer 900.

For example, when the vehicle 100 connected with the trailer 900 passesa predetermined range area, the processor 350 may estimate the length ofthe trailer 900 by calculating the time that it takes for the vehicle100 to pass the area.

The processor 350 may receive data from the trailer 900 via theinterface 330.

If the vehicle 100 and the trailer 900 are connected with each other,the processor 350 may receive trailer shape information from the trailer900. The trailer shape information is information on measurements of theexterior appearance of the trailer 900, including a length, a width, anda height thereof.

The processor 350 may receive the trailer shape information based on auser input received via the input unit 320.

If the vehicle 100 and the trailer 900 are connected with each other,the processor 350 may determine the shape of the trailer 900 byreceiving sensing information from the sensing unit 125.

For example, in order to sense the length of the trailer 900, theprocessor 350 may determine a length of the trailer 900 based onlocation information which is generated when the trailer 900 istravelling in a designated area.

When data is received from the trailer 900 via the interface 330, theprocessor 350 may determine that the vehicle 100 and the trailer 900 areconnected with each other.

In some implementations, when data is not received from the trailer 900via the interface 300, the processor 350 may determine that the vehicle100 and the trailer 900 are not in a connected state.

The processor 350 may determine an attitude of the trailer 900 based onan image received from the camera unit 310.

The attitude of the trailer 900 is data that includes an angledifference between the overall-length direction of the vehicle 100 andthe overall-length direction of the trailer 900, and a distance betweenthe rear of the vehicle 100 and the front of the trailer 900.

The attitude of the trailer 900 may indicate a state in which thetrailer 900 is connected with the vehicle 100.

For example, an attitude of the trailer 900 may be a state in which thetrailer 900 is, when seen from above, connected with the vehicle 100.

For example, an attitude of the trailer 900 may be determined on thebasis that the vehicle 100 and the trailer 900 are aligned in theoverall length direction.

For example, an attitude of the trailer 900 may be a state in which thetrailer 900 is, when seen from above, not bent with respect to thevehicle 100 and the direction of travel of the vehicle 100.

For example, the attitude of the trailer 900 may be a state in which thetrailer is, when seen from above, bent at a specific angle to the leftwith respect to the vehicle 100 and the direction of travel of thevehicle 100.

For example, the attitude of the trailer 900 may be a state in which thetrailer 900 is, when seen from above, bent at a specific angle to theright with respect to the vehicle 100 and the direction of travel of thevehicle 100.

The processor 350 may detect the trailer 900 from an image provided bythe rear view camera 310 b included in the camera unit 310. Theprocessor 350 may detect the trailer 900, connected with the vehicle100, from a second image acquired by a second camera included in thecamera unit 310.

The processor 350 may receive markers from the memory 340.

The markers may be reference data used as a criterion to determine anattitude of the trailer 900.

The markers may be reference data that is generated based on an image ofthe trailer 900 which is taken looking from the rear of the vehicle 100toward the trailer 900 when the trailer 900 is aligned with the vehicle100. Specifically, a maker may be formed by matching a dot, line, orsurface with a feature point of the image of the trailer 900 in a rearview image of the vehicle 100. Such a marker may be generated as adefault or by user settings.

The markers may include a front marker 1011 matching the lower edge ofthe front side of the detected trailer 900, a left marker 1013 matchingthe left edge of the front side of the trailer 900, and a right marker1015 that matches the right edge of the front side of the trailer 900.

The processor 350 may match markers with a trailer image that isdetected from an image provided by the camera unit 310.

The processor 350 may match a preset marker, stored in the memory 340,with the image of the detected trailer 900.

For example, the processor 350 may match the front marker 1011 with thelower edge of the front side of the detected trailer 900. The processor350 may match the left marker 1013 with the left edge of the front sideof the detected trailer 900. The processor 350 may match the rightmarker 1015 with the right edge of the front side of the detectedtrailer 900.

The processor 350 may overlay the markers on the rear view image of thevehicle 100 and then compare the markers overlaid on the rear image ofthe vehicle 100 with markers in the trailer image to determine anattitude of the trailer.

For example, the processor 350 may determine an attitude of the trailer900 by comparing feature points of the trailer 900 with the markers.Specifically, the processor 350 may determine an attitude of the trailer900 by comparing a marker corresponding to an upper right edge of thetrailer 900 with an area occupied by an upper right edge of the trailer900 in an acquired image. Alternatively, the processor 350 may determinean attitude of the trailer 900 by comparing a marker corresponding to anupper left edge of the trailer 900 with an area occupied by a upper leftedge of the trailer 900 in an acquired image.

The processor 350 may determine an attitude of the trailer 900 based onan angle which is formed when the markers match the image of the trailer900.

For example, the processor 350 may match the front marker 1011 inparallel with the lower edge of the front side of the trailer 900, andthen determine an attitude of the trailer 900 based on an angle betweenthe left marker 1013 and the left edge of the front side of the trailer900 and an angle between the right marker 1015 and the right edge of thefront side of the trailer 900.

For example, the processor 350 may match the left marker 1013 inparallel with the left edge of the front side of the trailer 900, andthen determine an attitude of the trailer 900 based on an angle betweenthe front marker 1011 and the lower edge of the front side of thetrailer 900 and an angle between the right marker 1015 and the rightedge of the front side of the trailer 900.

For example, the processor 350 may match the right marker 1015 inparallel with the right edge of the front side of the trailer 900, andthen may determine an attitude of the trailer 900 based on an anglebetween the front marker 1011 and the lower edge of the front side ofthe trailer 900 and an angle between the left marker 1013 and the leftedge of the front side of the trailer 900.

The processor 350 may determine an attitude of the trailer 900, byreceiving an image including the trailer 900 from the memory 340 andcomparing the received image with an image provided by the rear viewcamera of the vehicle 100.

The processor 350 may receive gyro sensing information from the trailer900 via the interface 330. The gyro sensing information may includelocation information and direction information sensed by the gyro sensorincluded in the trailer 900.

The gyro sensor may be disposed in one region of the trailer 900. One ormore gyro sensors may be provided. For example, at least one gyro sensormay be disposed in the upper left region, the lower left region, theupper right region, and the upper lower region of the trailer 900.

The processor 350 may determine an attitude of the trailer 900 based onlocation information and direction information of the trailer 900.

The processor 350 may receive, from the memory 340, a reference valuethat is sensed by the gyro sensor when the vehicle 100 and the trailer900 are aligned.

The processor 350 may receive gyro sensing information includinglocation information and direction information from the trailer 900.

The processor 350 may determine an attitude of the trailer 900 based onthe gyro sensing information and the current gyro sensing information ofthe trailer 900 which are provided from the memory 340.

The processor 350 may generate an around view image by combining aplurality of images provided by the camera unit 310.

The around view image is a view which is generated by combining a frontview image, a rear view image, a left view image, and a right view imageof the vehicle 100 using a plurality of cameras. The around view imagemay be a top-view image. The around view image may include an image 300i of the vehicle 100. The image 300 i of the vehicle 100 may be an imagegenerated by the processor 350.

The processor 350 may generate an around view image of the vehicle 100and the trailer 900 based on an around view image including an image ofthe vehicle 100.

The around view image including the vehicle 100 and the trailer 900 isan image that is generated by combining a front view image, a rear viewimage, a left view image, a right view image of the vehicle 100, and aleft view image, a right view image, and a rear view image of thetrailer 900 using a plurality of cameras.

When a blind spot occurs in an existing around view image of a vehiclebecause the trailer 900 is connected with the vehicle 100, the processor350 may correct the around view image based on the blind spot.

For example, if the third camera 310 c and the fourth camera 310 d are abidirectional camera, the processor 350 may receive, from the thirdcamera 310 c, a third image area 310 ci including a blind spot occurringin the presence of the trailer 900. The processor 350 may be provided bythe fourth camera 310 d with a fourth image area 310 di including theblind spot occurring in the presence of the trailer 900.

For example, if a mirror is attached to one region of the vehicle 100 toilluminate the blind spot, the processor 350 may receive a third imagearea 310 ci acquired by the third camera 310 c through the mirror, whichincludes the blind spot occurring in the presence of the trailer 900.The processor 350 may receive a fourth image area 310 di acquired by thecamera 310 d through the mirror, which includes the blind spot occurringin the presence of the trailer 900.

The processor 350 may receive a fifth image area 920 ai from the fifthcamera 920 a disposed at the rear side of the trailer 900.

The processor 350 may generate an around view image including thevehicle 100 and the trailer 900, by combining a plurality of imagesacquired by a plurality of cameras included in the trailer 900.

The processor 350 may receive an image of the surroundings of thetrailer 900 from a plurality of cameras 920 included in the trailer 900via the interface 330.

The image of the surroundings of the trailer 900 may include a rear viewimage of the trailer 900 received from the fifth camera 920 a, a leftview image of the trailer 900 received from the sixth camera 920 b, anda right view image of the trailer 900 received from the seventh camera920 c.

The processor 350 may generate an around view image of the vehicle 100and the trailer 900 by combining the image of the surroundings of thetrailer 900 with an around view image which further includes an image ofthe vehicle 100.

The processor 350 may combine the image of the surroundings of thetrailer 900 with the around view image including the vehicle 100 basedon feature points of an area which is overlaid on the image of thesurroundings of the trailer 900. For example, the processor 350 maydetect common feature points from an area in which the third imageacquired by the third camera and the second image acquired by the sixthcamera overlap each other. The processor 350 may combine the third imageand the sixth image based on the common feature points.

In this manner, the processor 350 may generate an around view imageincluding the vehicle 100 and the trailer 900 by combining a pluralityof images acquired by the vehicle 100 and the trailers 900. In someimplementations, the around view image may include a vehicle image 100 iand a trailer image 900 i.

The vehicle image 100 i may be an image generated by the processor 350.In addition, the trailer image 900 i may be an image generated by theprocessor 350.

The processor 350 may generate an around view image of the vehicle 100and the trailer 900 based on sensing information that is output from atleast one sensor among the radar, the lidar, the ultrasonic sensor, andthe infrared sensor.

The processor 350 may receive sensing information from the trailer 900via the interface 330, the sensing information which is output from atleast one sensor among the radar, the lidar, the ultrasonic sensor, andthe infrared sensor. The sensing information may include information asto whether an object is detected, a location of the detected object, thedistance to the detected object, and the speed relative to the detectedobject.

The processor 350 may generate an around view image including thevehicle 100 and the trailer 900 based on the sensing information.

When there is a blind spot in an image received from the camera, theprocessor 350 may correct the around view image based on the sensinginformation.

The processor 350 may distinguish a region corresponding to an aroundview image generated based on the sensing information from a region ofan around view image generated based on image information. The processor350 may generate and provide the corrected around view image to theoutput unit 370.

The processor 350 may receive, from the memory 340, a plurality of LUTsthat are generated in advance corresponding to attitudes of the trailer900.

The LUTs are data for storing image coordinates and composite imageregions which are changed corresponding to a plurality of attitudes ofthe trailer 900 in order to generate an around view image based on animage provided by the camera unit 310.

When an attitude of the trailer 900 is changed, the processor 350 maygenerate an around view image of the vehicle 100 and the trailer 900based on an LUT corresponding to the current attitude.

When an attitude of the trailer 900 is changed, the processor 350 mayreceive an LUT corresponding to the current attitude of the trailer 900among a plurality of LUTs stored in the memory 140. The processor 350may generate and provide an around view image corresponding to thecurrent attitude of the trailer 900 based on a selected LUT.

For example, when the trailer 900 is connected with the vehicle 100 insuch a way that the trailer 900 is bent to the left with respect to thedirection of travel of the vehicle 100, the processor 350 may receive anLUT corresponding to an attitude of the trailer 900 from the memory 340.Based on the LUT, the processor 350 may generate and provide an aroundview image including the trailer 900 in a leftward bent position.

For example, if the trailer 900 is connected with the vehicle 100 in astate where the trailer 900 is bent to the right with respect to thedirection of travel of the vehicle 100, the processor 350 may beprovided by the memory 340 with a lookup table corresponding to theattitude of the trailer 900. Based on the lookup table, the processor350 may generate and provide an around view image including the trailer900 in a rightward bent position.

The processor 350 may generate a signal for controlling travel of thevehicle 100 based on an attitude of the trailer 900. The processor 350may generate and provide a signal for controlling travel of the vehicle100 to the controller 170 or the vehicle drive unit 150 via theinterface 330. The controller 170 or the vehicle drive unit 150 maycontrol the vehicle 100 to travel based on the control signal providedby the processor 350.

Based on a driving condition of trailer 900, the processor 350 maygenerate and provide a signal for controlling a hitch 910 of the vehicle100 to switch to a fixed state or an adjustable state.

The hitch 910 is a device that physically connects the vehicle 100 andthe trailer 900.

The hitch 910 may be controlled by a control signal generated by theprocessor 350. For example, the hitch 910 may operate at the fixed stateor the adjustable state based on the control signal.

The fixed state indicates a state in which the hitch 910 is fixed suchthat the vehicle 100 and the trailer 900 are aligned in the samedirection, e.g., a length direction, based on movement of the vehicle100.

The hitch adjustable state indicates a state in which an adjustment ofthe attitude of the trailer 900 is allowed based on movement of thevehicle 100.

If the vehicle 100 travels straight, the processor 350 may generate andprovide a signal for controlling the hitch 910 to switch to the fixedstate.

For example, if the vehicle 100 travels straight backward, the processor350 may generate and provide a signal for controlling the hitch 910,which connects the vehicle 100 and the trailer 900, to switch to thefixed state.

For example, if the vehicle 100 travels at a preset speed or higher, theprocessor 350 may generate and provide a signal for controlling thehitch 910, which connects the vehicle 100 and the trailer 900, to switchto the fixed state.

For example, if the vehicle 100 travels a preset distance in a straightdirection, the processor 350 may generate and provide a control forcontrolling the hitch 910, which connects the vehicle 100 and thetrailer 900, to switch to the fixed state.

If the vehicle 100 is turning at a preset angle or greater, theprocessor 350 may generate and provide a signal for controlling thehitch 910 to switch to the adjustable state.

For example, if the vehicle 100 receives an input of a steeringdirection and travels straight, the processor 350 may generate andprovide a signal for controlling the hitch 910, which connects thevehicle 100 and the trailer 900, to switch to the adjustable state.

For example, if the vehicle 100 receives an input of a steeringdirection and travels backwards, the processor 350 may generate andprovide a signal for controlling the hitch 910, which connects thevehicle 100 and the trailer 900, to switch to the adjustable state.

For example, if the vehicle 100 receives a left steering input equal toor greater than a preset value, the processor 350 may generate andprovide a signal for controlling the hitch 910, which connects thevehicle 100 and the trailer 900, to switch to the adjustable state.

For example, if a right steering input equal to or greater than a presetvalue is received, the processor 350 may generate and provide a signalfor controlling the hitch 910, which connects the vehicle 100 and thetrailer 900, to switch to the adjustable state.

Based on an attitude of the trailer 900, the processor 350 may generateand provide at least one control signal among an acceleration controlsignal, a brake control signal, and a steering control signal to thevehicle drive unit 150 so as to control travel of the trailer 900.

The processor 350 may receive object detection information indicatinginformation about one or more objects outside the vehicle 100 detectedby the object detection unit 160. In some implementations, the processor350 can adjust the object detection information based on an attitude ofthe trailer 900.

For example, movement of the vehicle 100 being connected with thetrailer 900 is different from movement of the vehicle 100 not beingconnected with the trailer 900. When the trailer 900 is connected withthe vehicle 100, the vehicle 100 is followed by the trailer 900. Thus,when the vehicle 100 is connected with the trailer 900, the vehicle 100is controlled differently comparing to a state in which the vehicle 100is not connected with the trailer 900.

The processor 350 may perform a control operation based object detectioninformation.

When the trailer 900 is connected with the vehicle 100, the processor900 may perform a control operation based on the volume and the weightof the trailer 900.

For example, when the vehicle 100 is not connected with the trailer 900,the processor 350 may determine that a following vehicle may be within adistance of “A” meter from the vehicle 100. When the vehicle 100 isconnected with the trailer 900, the processor 350 may determine that avalue of “A” subtracted by the length of the trailer 900 is a distancebetween the vehicle 100 and the following vehicle. As a result, theobjection detection information can be adjusted.

The processor 350 may detect a distance between the trailer 900 and thedetected object based on the adjusted object detection information todetermine whether there is a risk of collision between the trailer 900and the detected object.

The processor 350 may determine a location of the detected object, speedof the detected object, and a distance to the trailer 900 based oninformation on detection of the object detected by the object detectionunit 160.

The risk of collision may indicate a case where a collision occurs dueto movement of at least one of the trailer 900 or the detected objectwhen the detected object is located within a preset distance from thetrailer 900.

When the detected object is located within the preset distance from thetrailer 900, the processor 350 may determine that there is a risk ofcollision between the trailer 900 and the detected object.

When it is determined that there is a risk of collision between thetrailer 900 and the detected object, the processor 350 may generate andprovide a signal for controlling the vehicle 100 so that the trailer 900moves a preset distance away from the detected object.

The processor 350 may determine a distance between the object and thetrailer 900 and speed of the object based on object detectioninformation which is adjusted based on an attitude of the trailer 900.

For example, if an object expected to collide with the trailer 900approaches the rear of the trailer 900, the processor 350 may generatean acceleration control signal to avoid the object.

For example, if an object expected to collide with the trailer 900approaches the side of the trailer 900, the processor 350 may generatean acceleration control signal, a brake control signal, and a steeringcontrol signal to avoid the object.

The processor 350 may generate and provide the acceleration controlsignal and the steering control signal to the vehicle drive unit 150.

The processor 350 may determine the current lane of travel of thetrailer 900 based on an image received from the camera unit 310.

The processor 350 may detect a lane of travel of the vehicle 100 from animage received from the camera unit 310.

The processor 350 may detect a lane of travel of the trailer 900 fromimages received from a plurality of cameras 910 via the interface 330.

Based on an attitude of the trailer 900, the processor 350 may determinewhether the trailer 900 is out of the lane of travel.

The processor 350 may generate and provide a signal for controlling thevehicle 100 so that the trailer maintains the lane of travel.

For example, when it is determined that the trailer 900 is not out ofthe lane of travel, the processor 350 may generate and provide a controlsignal so that the trailer 900 maintains the lane of travel. Theprocessor 350 may generate and provide the acceleration control signaland the steering control signal to the vehicle drive unit 150.

For a parking operation, the processor 350 may generate a parking pathbased on an attitude of the trailer 900.

The processor 350 may define a parking space based on an image includingthe vehicle 100 and the trailer 900.

The processor 350 may determine a parking space based on the overalllength of the vehicle 100 and the trailer 900.

A parking space 1710 is a space in which the vehicle 100 is to beparked. The parking space 1710 is a space in which the vehicle 100 isable to move without colliding with an object detected during a parkingoperation. The processor 350 may determine the object's type, size,location, speed, and distance to the trailer 900.

The processor 350 may determine the parking space 1710 based on a typeand an attitude of the trailer 900. The processor 350 may determine theparking space 1710 based on an object detected by the object detectionunit 160.

Based on the parking space, the processor 350 may generate a parkingpath of the vehicle 100 connected with the trailer 900.

The parking path is a path required for the trailer 900 to perform aparking operation.

The processor 350 may determine a steering angle, forward movement, andbackward movement of the trailer 900, which are required to controlparking the trailer 900. The processor 350 may generate a parking pathof the vehicle 100 based on change in the steering angle, forwardmovement, backward movement, and a speed for the vehicle 100 so as topark the trailer 900.

The processor 350 may generate a signal for controlling the vehicle 100to park the trailer 900 along the parking path.

To park the trailer 900 along the parking path, the processor 350 maygenerate and provide a signal for controlling at least one controlsignal among the power source drive unit 151, the steering drive unit152, and the brake drive unit 153 included in the vehicle drive unit150.

The processor 350 may generate and provide the generated control signalto the vehicle drive unit 150 so as to control the vehicle 100 to parkthe trailer 900 along the parking path.

For example, in order to park the trailer 900 backwards to the right,the processor 350 may generate and provide a steering control signal forcontrolling the steering of the vehicle 100 to the left so that the rearof the vehicle 100 is directed toward to the left. The processor 350 maygenerate and provide an acceleration control signal to control thevehicle 100 to travel backwards.

For example, in the case of parking the trailer 900 backwards to theleft, the processor 350 may generate and provide a steering controlsignal for controlling the steering of the vehicle 100 to the right sothat the rear of the vehicle 100 is directed toward the right. Theprocessor 350 may generate and provide an acceleration control signal tocontrol the vehicle 100 to travel backwards.

Based on an attitude of the trailer 900, the processor 350 may generateand provide at least one control signal between a trailer brakingcontrol signal and a steering control signal to control wheels of thetrailer 900.

The processor 350 may determine whether there is a risk of collisionbetween the trailer 900 and a detected object.

If it is determined that there is a risk of collision between thetrailer 900 and the detected object, the processor 350 may generate andprovide a signal for controlling the wheels of the trailer 900 so thatthe trailer 900 moves a preset distance away from the detected object.

If the detected object approaches the trailer 900 within the presetdistance, the processor 350 may determine that there is a risk ofcollision between the trailer 900 and the detected object.

The risk of collision may indicate a case where collision occurs due tomovement of at least one of the trailer 900 and the detected object whenthe detected object is located within the preset distance from thetrailer 900.

For example, if an object expected to collide with the trailer 900approaches the right side of the trailer 900, the processor 350 maygenerate and provide a steering control signal for controlling thewheels of the trailer 900 so that the trailer 900 is directed toward theleft.

For example, if an object expected to collide with the trailer 900approaches the left side of the trailer 900, the processor 350 maygenerate and provide a steering control signal for controlling thewheels of the trailer 900 so that the trailer 900 is directed toward theright.

The processor 350 may generate and provide a steering control signal tothe trailer 900 via the interface 330.

The processor 350 may determine a lane of travel of the trail 900 basedon an image provided from the vehicle 100 and the trailer 900, andgenerate and provide a signal for controlling the wheels of the trailer900 so that the trailer 900 maintains the lane of travel.

The processor 350 may generate and provide a signal for controlling thewheels of the trailer 900 so that the trailer 900 maintains the lane oftravel.

For example, when it is determined that the trailer 900 is out of itslane of travel, the processor 250 may provide a control signal so thatthe trailer 900 maintains the lane of travel. The processor 350 maygenerate and provide a steering control signal to the trailer 900 sothat the direction of travel of the trailer 900 is in parallel with thelane of travel.

The processor 350 may generate and provide a signal for controlling thewheels of the trailer 900 so that the trailer 900 travels along a travelpath as the same as that of the vehicle 100.

The processor 350 may generate a travel path of the trailer 900.

A travel path is a path required for a vehicle to travel on the roads.

The processor 350 may generate at least one control signal between asteering control signal and a braking control signal so that the trailer900 travels along a path as the same as a travel path of the vehicle100.

For example, when the vehicle 100 is cornering to the right, theprocessor 350 may generate and provide a steering control signal so thatthe wheels of the trailer 900 are directed toward the right.

For example, when the vehicle 100 is cornering to the left, theprocessor 350 may generate and provide a steering control signal so thatthe wheels of the trailer are toward the left.

The processor 350 may generate and provide a steering control signalcorresponding to the travel path of the vehicle 100 to the trailer 900via the interface 330.

The power supply unit 360 may, under control of the processor 350,provide power necessary for operation of each component. In particular,the power supply unit 360 may be supplied with power from a batteryinside the vehicle.

The output unit 370 may include a display unit 371 and a sound outputunit 373.

The display unit 371 may display various types of information processedby the processor 350. The display unit 371 may display an image relatedto operation of the apparatus 300.

The display unit 371 may display an around-view image generated by theprocessor 350. In some implementations, the display unit 371 may providevarious user interfaces when displaying the around-view image, and mayinclude a touch sensor for enabling a touch input to a provided userinterface.

In some implementations, the display unit 371 may be implemented todisplay an image on a room mirror, a side mirror, or a side windowglass.

For example, the display unit 371 may be disposed in the room mirror orthe side mirror. In this case, the display unit 371 may serve as amirror normally and display an image upon occurrence of a specificevent.

For example, the display unit 371 may be in the form of a transparentdisplay placed close to a side window glass. In another example, thedisplay unit 371 may include a projection module which may project animage onto the side window glass.

For example, the display 371 may be in the form of a transparent displayplaced close to a front wind shield. In another example, the displayunit 371 may include a projection module which may project an image ontothe front wind shield.

The sound output unit 373 may output sound to the outside based on anaudio signal processed by the processor 350. To this end, the soundoutput unit 373 may include at least one speaker.

FIG. 5 illustrates an example method for operating an apparatus forproviding an around view image of a vehicle.

Referring to FIG. 5, the processor 350 may determine connection of thetrailer in S510.

When the vehicle 100 and the trailer 900 are connected with each otherby the hitch 910, the processor 350 may receive, from the trailer 900,data which include at least one of trailer image information, trailerdirection information, trailer location information (GPS information),trailer angle information, trailer speed information, traileracceleration information, trailer tilt information, and trailer lampinformation. When the data is received from the trailer 900, theprocessor 350 may determine that the vehicle 100 and the trailer 900 areconnected with each other.

In some implementations, when the trailer 900 is detected from a rearview image of the vehicle 100 provided from the camera unit 310 and datais transmitted to the trailer 900, the processor 350 may determine thatthe trailer 900 and the vehicle 100 are connected with each other.

The processor 350 may receive images of the vehicle 100 and the trailer900 from the camera unit 310 in S520.

The processor 350 may receive images of the surroundings of the trailer900 via the interface 330 from a plurality of cameras 910 attached tothe trailer 900.

The processor 350 may detect the trailer 900 connected with the vehicle100 from images which are received from the vehicle 100 and the trailer900.

Then, the processor 350 may determine an attitude of the trailer 900 inS530.

The attitude of the trailer 900 is a position of the trailer 900 withrespect to the rear of the vehicle 100 according to a distance betweenthe vehicle 100 and the trailer 900 and an angle between the vehicle 100and the trailer 900.

The processor 350 may match markers with a trailer 100 detected from animage provided from the camera unit 310. The processor 350 may determinean attitude of the trailer 900 based on an angle which is formed betweenthe trailer 900 and the markers.

The processor 350 may determine an attitude of the trailer 900 byreceiving gyro sensing information from the trailer 900. The processor350 may determine the attitude of the trailer 900 based on locationinformation and direction information of the trailer 900.

The processor 350 may determine driving conditions of the vehicle 100and the trailer 900 in S540.

The processor 350 may generate and provide a signal for controlling thevehicle 100 and the trailer 900 based on a driving condition and anattitude of the trailer 900 in S550.

Based on the attitude of the trailer 900, the processor 350 may generateand provide a signal for controlling a hitch which connects the vehicle100 and the trailer 900. Based on the driving condition of the trailer900, the processor 350 may generate and provide a signal for controllingthe vehicle drive unit 150. Based on the driving condition of thetrailer 900, the processor 350 may generate and provide a signal forcontrolling the trailer 900.

FIG. 6 illustrates an example method for controlling a hitch thatcouples a trailer to a vehicle.

Referring to FIG. 6, the processor 350 may determine whether the vehicle100 is travelling in S610.

If the vehicle 100 is not travelling, the processor 350 may generate asignal for controlling a hitch to switch to an adjustable state in S650.

The adjustable state is a state in which a hitch connecting the vehicle100 and the trailer 900 is changed by steering of the vehicle 100 andthus manipulating a steering angle of the trailer 900 is allowed.

If the vehicle 100 is travelling, the processor 350 may determinewhether the trailer 900 is travelling straight in S620.

When the vehicle 100 is travelling straight, the processor 350 maygenerate a signal for controlling the hitch to switch to a fixed statein S640.

The fixed state is a state in which the hitch connecting the vehicle 100and the trailer 900 is changed by steering of the vehicle and thusmanipulating a steering angle of the trailer is not allowed.

If the vehicle 100 is not travelling straight, the processor 350 maydetermine whether the trailer 900 is turning in S630.

If the vehicle 100 is not turning, the processor 350 may generate asignal for controlling the hitch to switch to the fixed state in S640.

If the vehicle 100 is turning, the processor 350 may generate a signalfor controlling the hitch to switch to the adjustable state in S650.

FIG. 7 illustrates an example method for controlling a trailer to avoida collision based on an attitude of the trailer.

Referring to FIG. 7, the processor 350 may receive object detectioninformation from the object detection unit 160 in S710.

Then, based on the object detection information and an attitude of thetrailer, the processor 350 may determine whether there is a risk ofcollision between the trailer 900 and a detected object in S720.

The risk of collision may indicate a case where collision occurs due tomovement of at least one of the trailer 900 and the detected object whenthe detected object is located within a preset distance from the trailer900.

If it is determined that there is a risk of collision between thetrailer 900 and the object, the processor 350 may receive objectdetection information from the object detection unit 160 in S710.

If it is determined that there is a risk of collision between thetrailer 900 and the object, the processor 350 may generate and provide acontrol signal so that the trailer 900 moves a preset distance away fromthe object in S730.

The processor 350 may generate and provide at least one control signalamong an acceleration control signal, a brake control signal, and asteering control signal to the vehicle drive unit 150.

The processor 350 may generate and provide at least one control signalbetween the brake control signal and the steering control signal to thetrailer via the interface 330.

FIG. 8 illustrates an example method for maintaining a traveling lane ofa vehicle based on an attitude of a trailer.

Referring to FIG. 8, the processor 350 may detect a lane of travel ofthe trailer 900 from an image received from the camera unit 310 in S810.

Then, based on the lane of travel and an attitude of the trailer 900,the processor 350 may determine whether the trailer 900 is out of thelane of travel in S820.

If it is determined that the trailer 900 is not out of the lane oftravel, the processor 350 may detect a lane of travel again in S810.

Then, if it is determined that the trailer 900 is out of the lane oftravel, the processor 350 may generate and provide a control signal sothat the trailer 900 maintains the lane of travel in S830.

The processor 350 may generate and provide at least one control signalamong an acceleration control signal, a brake control signal, a steeringcontrol signal to the vehicle drive unit 150.

The processor 350 may generate and provide at least one control signalbetween the brake control signal and the steering control signal to thetrailer 900 via the interface 300.

FIG. 9 illustrates an example method for parking a vehicle and a trailerbased on an attitude of the trailer.

Referring to FIG. 9, the processor 350 may detect a parking space froman image received from the camera unit 310 in S910.

Then, based on a shape of the trailer 900, the processor 350 maydetermine whether the trailer 900 is able to be parked in S920.

If the trailer 900 is not able to be parked, the processor 350 maydetect a parking space in S910.

If the trailer is able to be parked, the processor 350 may generate aparking path in S930.

Then, the processor 350 may generate and provide a control signal topark the trailer 900 in the parking space along the parking path inS940.

The processor 350 may generate and provide at least one control signalamong an acceleration control signal, a brake control signal, and asteering control signal to the vehicle drive unit 150.

The processor 350 may generate and provide at least one control signalbetween the brake control signal and the steering control signal to thetrailer 900 via the interface 330.

FIGS. 10A and 10B illustrate an example vehicle and an example trailerwhere an example apparatus determines an attitude of the trailer usingmarkers.

Referring to FIGS. 10A and 10B, the processor 350 may receive a rearview image of the vehicle 100 from the camera unit 310, and detect atrailer 900 from the rear view image of the vehicle 100.

The processor 350 may be provided with preset markers stored in thememory 340. The markers are data that is generated based on an attitudeof the trailer 900 in a state in which the trailer 900 and the vehicle100 are aligned in an overall-length direction of the vehicle 100. Theprocessor 350 may match the markers with the rear view image of thevehicle 100, the image from which the trailer 900 has been detected.

For example, the processor 350 may match a front marker 1011 with thelower edge of the front side of the detected trailer. The processor 350may match the left marker 1013 with the left edge of the front side ofthe detected trailer. The processor 350 may match the right marker 1015with the right edge of the front side of the detected trailer.

The processor 350 may determine an attitude of the trailer 900 based onan angle between the trailer 900 and the markers

For example, the processor 350 may match the front marker 1011 inparallel with a detected lower edge of the front side of the trailer900, and then determine an attitude of the trailer 900 based on an anglebetween the left marker 1013 and the left edge of the front side of thetrailer 900 and an angle between the right marker 1015 and the rightedge of the front side of the trailer 900.

For example, the processor 350 may match the left marker 1013 inparallel with a detected left edge of the front side of the trailer 900,and then determine an attitude of the trailer 900 based on an anglebetween the front marker 1013 and the lower edge of the front side ofthe trailer 900 and an angle between the right marker 1015 and the rightedge of the front side of the trailer 900.

For example, the processor 350 may match the right marker 1015 inparallel with a detected right edge of the front side of the trailer900, and then determine an attitude of the trailer 900 based on an anglebetween the front marker 1011 and the lower edge of the front side ofthe trailer 900 and an angle between the left marker 1013 and the leftedge of the front side of the trailer 900.

FIG. 10A shows a case where a trailer is in an aligned state.

The processor 350 may match the front marker 1011 in parallel with thedetected lower edge of the front side of the trailer 900, and thendetermine that the trailer 900 is in an aligned state, if the anglebetween the left marker 1013 and the left edge of the front side of thetrailer 900 and the angle between the right marker 1015 and the rightedge of the front side of the trailer 900 fall within a preset range.

For example, the processor 350 may match the left marker 1013 inparallel with the detected left edge of the front side of the trailer900, and then determine that the trailer 900 is in an aligned state, ifthe angle between the front marker 1013 and the lower edge of the frontside of the trailer 900 and the angle between the right marker 1015 andthe right edge of the front side of the trailer 900 fall within a presetrange.

For example, the processor 350 may match the right marker 1015 inparallel with the detected right edge of the front side of the trailer900, and then determine that the trailer is in an aligned state, if anangle between the front marker 1011 and the lower edge of the front sideof the trailer 900 and an angle between the left marker 1013 and theleft ledge of the front side of the trailer 900 fall within a presetrange.

FIG. 10B illustrates a case where a trailer is in a non-aligned state.

When the overall-length direction of the trailer 900 is on the left sideof the overall-length direction of the vehicle 100, the processor 350may match the left marker 1013 with a detected left edge of the frontside of the trailer 900. Then, if the front marker 1011 and the loweredge of the front side of the trailer 900 and the right marker 1015 andthe right edge of the front side of the trailer 900 fall within a presetrange, the processor 350 may determine that the overall length directionof the trailer 900 is toward the left in the overall length direction ofthe vehicle 100.

In addition, when the overall length direction of the trailer 900 is onthe left side of the overall length direction of the vehicle 100, theprocessor 350 may match the right marker 1015 in parallel with the rightedge of the front side of the trailer 900. Then, if an angle between thefront marker 1011 and the lower edge of the front side of the trailer900 and an angle between the left marker 1015 and the left edge of thefront side of the trailer 900 fall within a preset range, the processor350 may determine that the overall length direction of the trailer 900is toward the right in the overall length direction of the vehicle 100.

FIGS. 11A and 11B illustrate an example vehicle and an example trailerwhere an example apparatus determines an attitude of the trailer using agyro sensor.

Referring to FIGS. 11A and 11B, the processor 350 may receive gyrosensing information from the trailer 900 via the interface 330. The gyrosensing information may include location information and directioninformation of the trailer 900. The processor 350 may receive a presetgyro sensor reference value from the memory 340. The processor 350 maydetermine an attitude of the trailer 900 based on the gyro sensorreference value and the current trailer gyro sensing information.

FIG. 11A shows a case where a trailer is in an aligned state.

The processor 350 may receive gyro sensing information from the trailer900 via the interface 330. The processor 350 may receive a preset gyrosensing value from the memory 340.

The processor 350 may determine an attitude of the trailer 900 based onlocation information and direction information of the trailer 900, theinformation which are obtained based on a gyro sensing reference value1110 and the gyro sensing information.

If the reference value and the gyro sensing information have the samevalue, the processor 350 may determine that the trailer 900 is in analigned state.

FIG. 11B shows a case in which a trailer is in a non-aligned state.

The processor 350 may receive gyro sensing information 1120 from thetrailer 900 via the interface 330. The processor 350 may receive apreset gyro sensing reference value 1110 from the memory 340.

If the gyro sensing reference value 1110 and the gyro sensinginformation 1120 have different values, the processor 350 may determinethat the trailer 900 is in a non-aligned state.

If the gyro sensing reference value 1110 and the gyro sensinginformation 1120 have different values, the processor 350 may determinean overall-length direction of the trailer 900 based on the gyro sensingreference value 1110 and the second gyro sensing information 1120.

FIGS. 12A and 12B illustrate an example vehicle and an example trailerwhere an example apparatus provides an LUT based on an attitude of thetrailer.

Referring to FIGS. 12A and 12B, the processor 350 may receive, from thememory 340, a plurality of LUTs that are generated in advancecorresponding to attitudes of the trailer 900.

If an attitude of the trailer 900 is changed during travel of thevehicle 100, the processor 350 may generate an around view image of thevehicle 100 and the trailer 900 based on an LUT corresponding to thecurrent attitude of the trailer 900.

If an attitude of the trailer 900 is changed, the processor 350 mayselect an LUT corresponding to the current attitude of the trailer 900from among a plurality of LUTs stored in the memory 340. The processor350 may generate and provide an around view image corresponding to thecurrent attitude of the trailer 900 based on the selected lookup table.

FIG. 12A shows a case where the trailer 900 is rotated to the right withrespect to the front of the vehicle 100. The processor 350 may receive,from the memory 340, an LUT corresponding to the attitude of the trailer900 rotated to the right. Based on the LUT, the processor 350 maygenerate and provide an around view image including the trailer 900 onthe left side.

FIG. 12B shows a case where the trailer 900 is rotated to the left withrespect to the front of the vehicle 100. The processor 350 may receive,from the memory 340, an LUT corresponding the attitude of the trailer900 rotated to the left. Based on the lookup table, the processor 350may generate and provide an around view image including the trailer 900on the left side.

FIG. 13 illustrates an example vehicle and an example trailer where anexample apparatus controls a hitch.

Referring to FIG. 13, if the vehicle 100 travels straight, the processor350 may generate and provide a signal for controlling the hitch 910,which connects the vehicle 100 and the trailer 900, to switch to a fixedstate.

For example, if the vehicle 100 travels straight backward, the processor350 may generate and provide a signal for controlling the hitch 910,which connects the vehicle 100 and the trailer 900, to switch to a fixedstate.

For example, if the vehicle 100 travels at a preset speed or higher, theprocessor 350 may generate and provide a signal for controlling thehitch 910, which connects the vehicle 100 and the trailer 900, to switchto a fixed state.

For example, if the vehicle 100 travels a preset distance in a straightdirection, the processor 350 may generate and provide a signal forcontrolling the hitch 910, which connects the vehicle 100 and thetrailer 900, to switch to a fixed state.

FIG. 14 illustrates an example vehicle and an example trailer where anexample apparatus controls a hitch.

If a steering direction of the vehicle 100 is input and the vehicle 100travels forward, the processor 350 may generate and provide a signal forcontrolling the hitch 910, which connects the vehicle 100 and thetrailer 900, to switch to an adjustable state.

For example, if the vehicle 100 receives an input of a steeringdirection and travels backwards, the processor 350 may generate andprovide a signal for controlling the hitch 910, which connects thevehicle 100 and the trailer 900, to switch to an adjustable state.

For example, if a left steering input is received and an angle of thesteering input is greater than a preset value, the processor 350 maygenerate and provide a signal for controlling the hitch 910, whichconnects the vehicle 100 and the trailer 900, to switch to an adjustablestate.

For example, if a right steering input is received and an angle of thesteering input is greater than a preset value, the processor 350 maygenerate and provide a signal for controlling the hitch 910, whichconnects the vehicle 100 and the trailer 900, to switch to an adjustablestate.

FIGS. 15A and 15B illustrate an example vehicle and an example trailerwhere an example apparatus controls the vehicle and the trailer to avoida collision between the trailer and an external object.

Referring to FIGS. 15A and 15B, the trailer 900 or an object mayapproach during travel of the vehicle 100.

The processor 350 may be provided from the object detection unit 160with object detection information. The processor 350 may determine alocation a detected object, a speed thereof, and a distance thereof fromthe trailer 900 based on the object detection information.

Based on the object detection information, the processor 350 maydetermine whether there is a risk of collision between the trailer 900and a detected object 1510.

If the trailer 900 is located within a preset distance from the detectedobject, the processor 350 may determine that there is a risk ofcollision between the trailer 900 and the detected object.

The processor 350 may determine a location at which the trailer 900 isable to avoid the collision between the trailer 900 and the object. Theprocessor 350 may generate a travel path 1520 required for the trailer900 to move to the location. The processor 350 may generate and providean acceleration control signal and a steering control signal to travelalong the travel path 1520. The processor 350 may generate and providethe acceleration control signal and the steering control signal to thevehicle drive unit 150.

FIG. 15A shows a case where an object approaches the trailer 900 whichis travelling.

In FIG. 15A, the processor 350 may receive, from the object detectionunit 160, information on an object 1510 which approaches the trailer900. The processor 350 may determine an attitude of the trailer 900. Theprocessor 350 may determine a travel path 1530 of the object 1510 basedon the attitude of the trailer 900 so as to determine whether there is arisk of collision between the trailer 900 and the object 1510.

If it is determined that there is a risk of collision between thetrailer 900 and the object 1510, the processor 350 may generate andprovide a control signal to avoid the object 1510.

For example, if the object 1510 approaches the rear of the trailer 900,the processor 350 may generate and provide an acceleration signal to thevehicle 100 so that the trailer 900 travels forward. If there is asufficient empty space in front of the vehicle 100, the processor 350may generate and provide an acceleration control signal so that thetrailer 900 travels forward. The processor 350 may generate and providea vehicle control signal to control the vehicle 100 to travel forward sothat the trailer 900 moves a preset distance away from the object 1510.

If an object (now shown) approaches the trailer 900 from the left side,the processor 350 may determine, based on information received from thesensing unit 125, whether there is a sufficient empty space in front ofor on the right side of the vehicle 100. If it is determined that thereis a sufficient empty space in front of and on the right side of thevehicle 100, the processor 350 may generate and provide a right steeringcontrol signal and an acceleration control signal to the vehicle 100 tocontrol the trailer 900 to travel toward the right. The processor 350may generate and provide a vehicle control signal to control the vehicle100 to travel in a right forward direction so that the trailer 900 movesa preset distance away from the object.

If the object 1510 approaches the trailer 900 from the right side, theprocessor 350 may determine, based on information received from thesensing unit 135, whether there is a sufficient empty space in front oron the left side of the vehicle 100. The processor 350 may generate andprovide a left steering control signal and an acceleration controlsignal to the vehicle 100 to control the trailer 900 to travel towardthe left. The processor 350 may generate and provide a vehicle controlsignal to control the vehicle 100 to travel in a left forward directionso that the trailer 900 moves a preset distance away from the object1510.

FIG. 15B shows a case where the trailer 900, which is travelling,approaches an object.

In FIG. 15B, the processor 350 may receive, from the object detectionunit 160, information on an object 1510 which the trailer 900approaches. The processor 350 may determine a travel path 1530 of thetrailer 900 based on an attitude of the trailer 900 so as to determinewhether there is a risk of collision between the trailer 900 and theobject 1510.

If it is determined that there is a risk of collision between thetrailer 900 and the object 1510, the processor 350 may generate andprovide a vehicle control signal to avoid the collision.

If the trailer 900 approaches an object 1510 located at the rear of thetrailer 900, the processor 350 may generate and provide a brake controlsignal to the vehicle 100 so that the trailer 900 moves a presetdistance away from the object 1510.

If the trailer 900 becomes an object located on the left side of thetrailer 900, the processor 350 may determine, based on informationreceived from the sensing unit 125, whether there is a sufficient emptyspace in the front or on the right side of the vehicle 100. When it isdetermined that there is a sufficient empty space in front or on theright side of the vehicle 100, the processor 350 may generate andprovide a right steering control signal and an acceleration controlsignal to the vehicle to control the trailer 900 to travel toward theright. The processor 350 may generate and provide a vehicle controlsignal to control the vehicle 100 to travel in a right forward directionso that the trailer 900 becomes away a preset distance from the object.

If the trailer 900 approaches an object 1510 located on the right sideof the trailer 900, the processor 350 may determine, based oninformation received from the sensing unit 125, whether there is asufficient empty space in front or on the left side of the vehicle 100.The processor 350 may generate and provide a left steering controlsignal and an acceleration control signal to the vehicle 100 to controlthe trailer 900 to travel toward the left. The processor 350 maygenerate and provide a vehicle control signal to control the vehicle 100to travel in a left forward direction so that the trailer 900 becomesaway a preset distance from the object 1510.

FIGS. 16A and 16B illustrate an example vehicle and an example trailerwhere an example apparatus controls the vehicle to maintain a travelinglane of the trailer.

Referring to FIGS. 16A and 16B, the processor 350 may detect the currentlane of travel of the vehicle 100 from an image of the surroundings ofthe vehicle 100 received from the camera unit 310. The processor 350 maydetect the current lane of travel of the trailer 900 from an image ofthe surroundings of the vehicle 100 received from the camera unit. Inaddition, the processor 350 may detect the current lane of travel of thetrailer 900 from images received from a plurality of cameras 910 of thetrailer 900 via the interface 330.

The processor 350 may determine an attitude of the trailer 900 based onthe image of the surroundings of the vehicle 100 received from thecamera unit 310. Based on the attitude of the trailer 900, the processor350 may determine whether the trailer 900 is out of the lane of travel.

FIG. 16A shows a case where the trailer 900 is out of its lane oftravel.

The processor 350 may detect a lane of travel of the trailer 900 basedon an attitude of the trailer 900 in an image of the surroundings of thevehicle 100 received from the camera unit 310.

The processor 350 may determine whether the detected lane of travel ofthe trailer 900 is the same as a lane of travel of the vehicle 100.

If the detected lane of travel of the trailer 900 is different from thelane of travel of the vehicle 100, the processor 350 may determine thatthe trailer 900 is out of the lane of travel of the vehicle.

The processor 350 may generate and provide a brake control signal and asteering control signal to the trailer 900.

By controlling acceleration and steering based on a lane of travel, thevehicle 100 may alter a travel path 1620 of the trailer 900 and controlthe trailer 900 to return to the lane of travel of the vehicle 100.

For example, when the trailer 900 is out of the left line of the lane oftravel of the vehicle 100, the processor 350 may generate and provide aright steering control signal and an acceleration signal to the vehicle100 so that the trailer 900 travels toward the right.

The processor 350 may generate and provide a control signal to controlthe vehicle 100 to travel in a right forward direction until the trailer900 enters the lane of travel of the vehicle 100.

If the overall length direction of the trailer 900 comes in parallelwith the lane of travel of the vehicle 100 when the vehicle 100 istravelling in a right forward direction, the processor 350 may generateand provide an acceleration control signal to control the vehicle 100 totravel straight so that the trailer 900 returns back to the lane oftravel of the vehicle 100.

For example, if the trailer 900 is out of the right line of the lane oftravel of the vehicle 100, the processor 350 may generate and provide aleft steering control signal and an acceleration signal to the vehicle100 to control the trailer 900 to travel toward the left.

The processor 350 may generate and provide a control signal to controlthe vehicle 100 to travel in a left forward direction until the trailer900 enters the lane of travel of the vehicle 100.

If the overall-length direction of the trailer 900 comes in parallelwith the lane of travel of the vehicle 100 when the vehicle 100 istravelling in the left forward direction, the processor 350 provides anacceleration control signal to control the vehicle 100 to travelstraight so that the trailer 900 returns back to the lane of travel ofthe vehicle 100.

FIG. 16B shows a case where a trailer is about to move out of its laneof travel.

The processor 350 may detect a lane of travel of the trailer 900 basedon an attitude of the trailer 900 in an image of the surroundings of thevehicle 100 received from the camera unit 310.

The processor 350 may generate a travel path 1640 of trailer 900 basedon the attitude of the trailer 900.

The processor 350 may determine whether the generated travel path 1640of the trailer 900 moves out of the lane of travel of the trailer 900.

The processor 350 may generate and provide the acceleration controlsignal and the steering control signal to the vehicle drive unit 150 sothat the travel path 1640 of the trailer 900 is maintained in a lane oftravel 1630.

In accordance with the acceleration control signal and the steeringcontrol signal, the vehicle 100 may alter the travel path 1640 of thetrailer 900 and control the trailer 900 to maintain the lane of travel1630.

For example, when the trailer 900 is about to move out of the left lineof a lane of travel of the vehicle 100, the processor 350 may generateand provide a right steering control signal and an acceleration controlsignal so as to alter a travel path of the trailer 900 to the right.

The processor 350 may control the vehicle 100 to travel in a rightforward direction until the travel path of the trailer 900 enters thelane of travel of the vehicle 100.

For example, when the trailer 900 is about to move out of the right lineof a lane of travel of the vehicle 100, the processor 350 may generateand provide a left steering control signal and an acceleration controlsignal to the vehicle 100 so as to alter the travel path of the trailer900 to the left.

The processor 350 may control the vehicle 100 to travel in a leftforward direction until the travel path of the trailer 900 enters thelane of travel of the vehicle 100.

FIGS. 17A and 17B illustrates an example vehicle and an example trailerwhere an example apparatus controls parking of the vehicle and thetrailer.

FIG. 17A shows the case of generating a parking space and a parking pathbased on an attitude of a trailer.

The processor 350 may be provided from the camera unit 310 with imagesof the surroundings which include the vehicle 100 and the trailer. Theprocessor 350 may determine an attitude of the trailer based on theimage provided from the camera unit 310. The processor 350 may determinea parking space 1710 based on an attitude of the trailer.

The processor 350 may detect an object located around the vehicle 100and the trailer 100 by using the object detection unit 160. Theprocessor 350 may determine the parking space 1710 based on the objectdetected via the object detection unit 160.

The processor 350 may generate a parking path 1720 of the vehicle 100connected with the trailer based on the parking space 1710.

The processor 350 may determine forward movement, backward movement, anda steering angle of the trailer, which are required for the trailer tobe parked in the parking space 1710. The processor 350 may generate andprovide an acceleration control signal, a brake control signal, and asteering control signal to the vehicle 100 in order to control theforward movement, the backward movement, and the steering angle requiredfor parking the trailer.

FIG. 17B shows a case of parking a trailer backwards along a parkingpath.

By controlling an acceleration control signal, a brake control signal,and a steering control signal based on the parking path 1720, thevehicle 100 may move the trailer 900 so that the trailer is parked inthe parking space 1710.

The processor 350 may generate and provide an acceleration controlsignal, a brake control signal, and a steering control signal to thevehicle drive unit 150 so as to change the attitude of the trailer whenthe trailer is travelling backwards in the parking space 1710.

If it is determined that the trailer is able to enter the parking space1710 when the attitude thereof is being changed, the processor 350 maygenerate and provide a brake control signal to the vehicle drive unit150 so that the trailer 900 stops.

When the trailer 900 travels backwards to the rear right corner alongthe parking path 1720, the processor 350 may generate and provide a leftsteering angle control signal and an acceleration control signal to thevehicle drive unit 150 to control the vehicle 100 to travel backwards tothe left so that the trailer travels backwards to the right.

To control the trailer to travel backwards to the rear left corner alongthe parking path 1720, the processor 350 may generate and provide aright steering angle control signal and an acceleration control signalto the vehicle drive unit 150 to control the vehicle 100 to travelbackwards to the right so that the trailer travels backwards to theleft.

If information detected by the object detection unit 160 shows that adistance between an object detected and the trailer 900 is equal to orsmaller than a preset value when the trailer is travelling backwards,the processor 350 may generate and provide a brake control signal to thevehicle drive unit 150 so that the trailer stops.

If it is determined that the overall length direction of the trailer isaligned with the parking space 1710, the processor 350 may generate andprovide an acceleration control signal so that the trailer travelsbackwards in the overall-length direction.

FIGS. 18A and 18B illustrate an example vehicle and an example trailerwhere an example apparatus controls the trailer to avoid a collisionbetween the trailer and an external object.

The processor 350 may receive object detection information from theobject detection unit 160. Based on the object detection information,the processor 350 may determine a location of a detected object 1510, aspeed thereof, and a distance thereof from the trailer 900. Based on theobject detection information, the processor 350 may determine whetherthere is a risk of collision between the trailer 900 and the detectedobject 1510.

The processor 350 may determine a location at which the trailer 900 isable to avoid collision with the object 1510. The processor 350 maygenerate a travel path 1810 of the trailer 900 required for the trailer900 to move to the location. The processor 350 may generate at least onecontrol signal between a brake control signal and a steering controlsignal to control the trailer 900 to avoid an approaching object. Theprocessor 350 may generate and provide the brake control signal and thesteering control signal to the trailer 900 via the interface unit 330.

FIG. 18A shows a case where an object approaches a trailer 900 which istravelling.

In FIG. 18A, the processor 350 may receive information on an object1310, approaching the trailer 900, from the object detection unit 160based on an attitude of the trailer 900.

The processor 350 may determine whether there is a risk of collisionbetween the trailer 900 and the object 1510, by determining a travelpath of the object 1510 based on the attitude of the trailer 900.

If it is determined that there is a risk of collision between thetrailer 900 and the object 1510, the processor 360 may generate andprovide a signal for controlling wheels of the trailer 900 to avoid theobject.

If the object 1510 approaches the trailer 900 from the right side, theprocessor 350 may determine, based on information received from thesensing unit 125, whether there is a sufficient empty space on the leftside of the trailer 900. If there is a sufficient empty space on theleft side of the trailer 900, the processor 350 may generate and providea left steering angle control signal to the trailer 900 to control thetrailer 900 to travel toward the left.

The processor 350 may generate and provide a signal for controlling thewheels of the trailer 900 to the trailer 900 via the interface 330 sothat that the trailer 900 travels in a left forward direction andtherefore moves a preset distance away from the object 1510.

If an object approaches the trailer 900 from the left, the processor 350may determine, based on information received from the sensor 125,whether there is a sufficient empty space on the right side of thetrailer 900. If there is a sufficient empty space on the right side ofthe trailer 900, the processor 350 may generate and provide a rightsteering control signal and an acceleration control signal to thetrailer 900 to control the trailer 900 to travel toward the right. Theprocessor 350 may generate and provide a signal for controlling thewheels of the trailers 900 to the trailer 900 via the interface 330 sothat the trailer 900 travels in a right forward direction and thereforemoves a preset distance away from the object.

In accordance with the signal for controlling the wheels of the trailer900, the trailer 900 may move 1810 a preset distance from the object,thereby enabled to avoid a collision.

FIG. 18B shows a case where the trailer 900 which is travellingapproaches an object.

In FIG. 18B, the processor 350 may receive, from the object detectionunit 160, information on an object 1510 which the trailer 900approaches. The processor 350 may determine an attitude of the trailer900. The processor 350 may determine whether there is a risk ofcollision between the trailer 900 and the object 1510, by determining atravel path 1820 of the trailer 900 which corresponds to the attitude ofthe trailer 900.

If it is determined that there is a risk of collision between thetrailer 900 and the object 1510, the processor 350 may generate andprovide a signal for controlling the wheels of the trailer 900 to avoidthe collision.

If the trailer 900 approaches an object behind, the trailer 900 providea brake control signal to the wheels of the trailer 900 so that thetrailer 900 stops. The processor 350 may generate and provide a brakingcontrol signal so that the trailer 900 moves a preset distance away fromthe object.

If the trailer 900 approaches an object located on the left sidethereof, the processor 350 may determine based on information receivedfrom the sensing unit 125, whether there is a sufficient empty space onthe right side of the trailer 900. If there is a sufficient empty spaceon the right side of the trailer 900, the processor 350 may generate andprovide a right steering control signal and an acceleration controlsignal to the wheels of the trailer 900 so that the trailer 900 travelstoward the right. The processor 350 may generate and provide a signalfor turning the wheels of the trailer 900 to the right so that thetrailer 900 moves a preset distance away from the object.

If the trailer 900 approaches an object located on the right sidethereof, the processor 350 may determine, based on information receivedfrom the sensing unit 125, whether there is a sufficient empty space onthe left side of the trailer 900. If there is a sufficient empty spaceon the left side of the trailer 900, the processor 350 may generate andprovide a left steering control signal and an acceleration controlsignal to the trailer 900 so that the trailer 900 travels toward theleft. The processor 350 may generate and provide a signal for turningthe wheels of the trailer 900 to the right so that the trailer 900 movesa preset distance away from the object.

FIGS. 19A and 19B illustrate an example vehicle and an example trailerwhere an example apparatus controls the trailer to maintain a travelinglane of the trailer.

Referring to FIGS. 19A and 19B, the processor 350 may detect a lane oftravel of the vehicle 100 based on an image of the surroundings of thevehicle 100 received from the camera unit 310. The processor 350 maydetect a lane of travel of the trailer 900 from an image received fromthe camera unit 310. The processor 350 may detect a lane of travel ofthe trailer 900 from images received from a plurality of cameras 910 viathe interface 330.

The processor 350 may determine, based on an attitude of the trailer900, whether the trailer 900 is out of the lane of travel of the vehicle100.

FIG. 19A shows a case where a trailer is out of its lane of travel.

The processor 350 may detect a lane of travel of the trailer 900 basedon an attitude of the trailer 900 in an image of the surroundings of thevehicle 100 received from the camera 310.

The processor 350 may determine whether the detected lane of travel ofthe trailer 900 is the same as a lane of travel of the vehicle 100.

If the detected lane of travel of the trailer 900 is different from thelane of travel of the vehicle 100, the processor 350 may determine thatthe trailer 900 is out of the lane of travel of the vehicle 100.

The processor 350 may generate and provide a brake control signal and asteering control signal to the trailer 900.

For example, if the trailer 900 is out of the right line of the lane oftravel of the vehicle 100, the processor 350 may generate and provide aright steering control signal to the trailer 900 so that the trailer 900travels toward the left.

The trailer 900 may keep travelling with the wheels thereof being turnedto the right until the trailer 900 enters the lane of travel of thevehicle 100.

For example, if the trailer 900 is out of the right line of the lane oftravel of the vehicle 100, the processor 350 may generate and provide aleft steering control signal and an acceleration control signal so thatthe trailer 900 travels toward the left.

The trailer 900 may keep travelling with the wheels thereof being turnedto the left until the trailer 900 enters the lane of travel of thevehicle 100.

FIG. 19B shows a case where a trailer is about to move out of its laneof travel.

The processor 350 may detect a lane of travel of the trailer 900 basedon an attitude of the trailer 900 in an image of the surroundings of thevehicle 100 received from the camera unit 310.

The processor 350 may generate a travel path 1920 of the trailer 900based on the attitude of the trailer 900.

The processor 350 may determine whether the travel path 1920 of thetrailer 900 moves out of the lane of travel the trailer 900.

The processor 350 may generate and provide a steering control signal tothe trailer 900 via the interface 330 so that the travel path 1920 ofthe trailer 900 is maintained in the lane of travel of the trailer 900.

The trailer 900 may control the wheels thereof in accordance with thesteering control signal.

The processor 350 may alter the travel path 1920 of the trailer 900 bycontrolling the wheels of the trailer 900, and may provide a controlsignal so that the trailer 900 maintains the lane of travel.

For example, if the trailer 900 is about to move out of the left line ofa lane of travel of the vehicle 100, the processor 350 may generate andprovide a right steering control signal to the trailer 900 via theinterface 330 so as to alter a travel path of the trailer 900 to theright.

The trailer 900 may keep travelling with the wheels thereof being turnedto the right until the travel path of the trailer 900 enters the lane oftravel of the vehicle 100.

For example, if the trailer 900 is about to move out of the right lineof a lane of travel of the vehicle 100, the processor 350 may generateand provide a left steering control signal to the vehicle 100 via theinterface 330 so as to alter a travel path of the trailer 900 to theleft.

The trailer 900 may keep traveling with the wheels thereof being turnedto the left until the travel path of the trailer 900 enters the lane oftravel of the vehicle 100.

FIG. 20 illustrates an example vehicle and an example trailer where anexample apparatus controls the trailer to travel on the same lane withthe vehicle.

FIG. 20 shows a case where the trailer is cornering while maintainingthe same travel path of the vehicle.

The processor 350 may receive an around view image including the vehicle100 and the trailer 900 from the camera unit 310. The processor 350 maydetermine an attitude of the trailer 900 based on an image received fromthe camera unit 310. The processor 350 may generate a travel path 2020of the trailer 900 based on the determined attitude of the trailer 900.

The processor 350 may generate and provide a steering control signalcorresponding to a travel path 2010 of the vehicle 100 to the trailer900 via the interface 330 so that the trailer 900 travels along a travelpath which is the same as the travel path 2010 of the vehicle 100.

For example, when the travel path 2020 of the trailer 900 is inclined tothe left compared to a travel path of the vehicle 100, the processor 350may generate and provide a steering control signal to turn the wheels ofthe trailer 900 to the right. The processor 350 may generate and providea right steering control signal until the travel path 2020 of thetrailer 900 runs in the same direction as that of the travel path of thevehicle 100.

For example, when the travel path 2020 of the trailer 900 is inclined tothe right compared to a travel path of the vehicle 100, the processor350 may generate and provide a steering control signal to turn thewheels of the trailer 900 to the left. The processor 350 may generateand provide a right steering control signal until the travel path 2020of the trailer 900 runs in the same direction as that of the travel pathof the vehicle 100.

The implementations described above may be implemented as code that canbe written on a computer-readable medium in which a program is recordedand thus read by a computer. The computer-readable medium includes allkinds of recording devices in which data is stored in acomputer-readable manner. Examples of the computer-readable recordingmedium may include a hard disk drive (HDD), a solid state disk (SSD), asilicon disk drive (SDD), a read only memory (ROM), a random accessmemory (RAM), a compact disk read only memory (CD-ROM), a magnetic tape,a floppy disc, and an optical data storage device. In addition, thecomputer-readable medium may be implemented as a carrier wave (e.g.,data transmission over the Internet). In addition, the computer mayinclude the processor 350 or the controller 170. Thus, the abovedetailed description should not be construed as being limited to theimplementations set forth herein in all terms, but should be consideredby way of example.

The examples described above can be modified. In particular, variousvariations and modifications are possible in the component parts and/orarrangements of the subject combination arrangement within the scope ofthe disclosure, the drawings and the appended claims. In addition tovariations and modifications in the component parts and/or arrangements,any suitable alternatives in the component parts and/or arrangements arepossible.

What is claimed is:
 1. An apparatus for providing an around view imagefor a vehicle, the apparatus comprising: a camera unit that isconfigured to obtain an outside image of the vehicle; and a processorthat is configured to: determine a connection state between a trailerand the vehicle, receive the outside image of the vehicle from thecamera unit, based on the outside image of the vehicle, determine anattitude of the trailer, and based on the attitude of the trailer,generate a control signal to control travel of the vehicle, wherein theprocessor is further configured to: based on an attitude of the trailer,generate a control signal to control wheels of the trailer, the controlsignal being configured to control at least one of braking or steeringof the trailer, obtain object detection information about an objectlocated outside the vehicle, based on the object detection information,detect a third distance between the trailer and the object, determinewhether the third distance satisfies a second reference distance, basedon a determination that the third distance satisfies the secondreference distance, determine whether there is a risk of collisionbetween the trailer and the object, and based on a determination thatthere is a risk of collision between the trailer and the object,generate a control signal to control the trailer to keep a fourthdistance between the trailer and the object.
 2. The apparatus of claim1, further comprising: an interface that is configured to receive datafrom the trailer, wherein the processor is configured to: based on thedata, determine the connection state between the trailer and thevehicle.
 3. The apparatus of claim 1, further comprising: a memory thatis configured to store markers representing a preset attitude of thetrailer, wherein the processor is configured to: obtain a rear viewimage of the vehicle from the camera unit, detect the trailer from therear view image, receive the markers from the memory, match each of themarkers with at least one portion of the trailer in the rear view image,determine an angle between the at least one portion of the trailer andeach of the markers, and based on the angle, determine the attitude ofthe trailer.
 4. The apparatus of claim 1, further comprising: aninterface that is configured to receive gyro sensing information from agyro sensor that is mounted on the trailer, wherein the processor isconfigured to: based on the gyro sensing information, determine theattitude of the trailer.
 5. The apparatus of claim 1, wherein theprocessor is configured to: obtain a plurality of images from the cameraunit, based on (i) a vehicle image of the vehicle and (ii) the pluralityof images, generate a first around view image, and provide the firstaround view image to a display.
 6. The apparatus of claim 5, furthercomprising: an interface that is configured to receive an outside imageof the trailer from a camera unit of the trailer, wherein the processoris configured to: based on (i) the first around view image and (ii) theoutside image of the trailer, generate a second around view image, andprovide the second around view image to the display.
 7. The apparatus ofclaim 6, wherein the interface is configured to: receive sensinginformation from one or more sensors of the trailer, the one or moresensors including at least one of a radar, a lidar, an ultrasonicsensor, or an infrared sensor, and wherein the processor is configuredto: based on the sensing information, generate a third around viewimage, and provide the third around view image to the display.
 8. Theapparatus of claim 5, further comprising: a memory that is configured tostore a plurality of Look Up Tables (LUTs), each LUT of the plurality ofLUTs corresponding to a respective attitude of the trailer, wherein,based on a current attitude of the trailer, the processor is configuredto: receive a first LUT from the plurality of LUTs, the first LUTcorresponding to the current attitude of the trailer, determine a fourtharound view image that corresponds to the first LUT, and provide thefourth around view image to the display.
 9. The apparatus of claim 1,wherein the processor is configured to: based on a driving condition ofthe trailer, generate a control signal to operate a hitch at (i) a fixedstate in which the hitch is fixed or (ii) an adjustable state in whichthe hitch is adjustable.
 10. The apparatus of claim 9, wherein theprocessor is configured to: in a state in which the vehicle travelsstraight, generate a control signal to operate the hitch at the fixedstate.
 11. The apparatus of claim 9, wherein the processor is configuredto: determine whether a turning angle of the vehicle satisfies a firstangle, and based on a determination that the turning angle of thevehicle satisfies the first angle, generate a control signal to operatethe hitch at the adjustable state.
 12. The apparatus of claim 1, whereinthe processor is configured to: based on an attitude of the trailer,generate a control signal to control at least one of acceleration,braking, or steering of the vehicle.
 13. The apparatus of claim 12,wherein the processor is configured to: obtain object detectioninformation about an object located outside the vehicle, and based on anattitude of the trailer, adjust the object detection information. 14.The apparatus of claim 13, wherein the processor is configured to: basedon the object detection information, detect a first distance between thetrailer and the object, determine whether the first distance satisfies afirst reference distance, based on a determination that the firstdistance satisfies the first reference distance, determine whether thereis a risk of collision between the trailer and the object, and based ona determination that there is a risk of collision between the trailerand the object, generate a control signal to control the vehicle to keepa second distance between the trailer and the object.
 15. The apparatusof claim 12, wherein the processor is configured to: obtain one or moreimages from the vehicle and the trailer, based on the one or moreimages, determine a travel lane of the trailer, and generate a controlsignal to control the vehicle such that the trailer maintains the travellane.
 16. The apparatus of claim 12, wherein the processor is configuredto: based on an attitude of the trailer, generate a parking path forparking the trailer, and generate a control signal to control thevehicle such that the trailer moves along the parking path.
 17. Theapparatus of claim 1, wherein the processor is configured to: obtain oneor more images from the vehicle and the trailer, based on the one ormore images, determine a travel lane of the trailer, and generate acontrol signal to control the trailer to maintain the travel lane. 18.The apparatus of claim 1, wherein the processor is configured to: obtaininformation about a travel path of the vehicle, and based on theinformation about the travel path of the vehicle, generate the controlsignal to control the trailer to move along the travel path of thevehicle.